| 月球车立体视觉的一种标定与三维重建算法 |
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| 引用本文： | 张宏,齐乃明,侯建.月球车立体视觉的一种标定与三维重建算法[J].上海航天,2007,24(3):34-37. |
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| 作者姓名： | 张宏 齐乃明 侯建 |
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| 作者单位： | 哈尔滨工业大学,航天学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 为提高月球车视觉系统的摄像机标定和图像的三维重建精度,提出了一种基于多平面标定点的改进Tsai氏两步法,用线性重建算法对标定和匹配结果进行空间景物点的重建,根据最小二乘曲面拟合原理拟合视场区域的基本轮廓。对一标定模板的标定和图形的三维重建结果表明,该算法的精度高、速度快,可用于月球车立体视觉系统。
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| 关 键 词： | 月球车 立体视觉 摄像机 标定 三维重建 |
| 文章编号： | 1006-1630（2007）03-0034-04 |
| 修稿时间： | 2006-07-06 |
A Camera Calibration and Reconstruction Algorithm for Lunar Rover's Stereo Vision |
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| ZHANG Hong,QI Nai-ming,HOU Jian.A Camera Calibration and Reconstruction Algorithm for Lunar Rover''''s Stereo Vision[J].Aerospace Shanghai,2007,24(3):34-37. |
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| Authors: | ZHANG Hong QI Nai-ming HOU Jian |
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| Institution: | College of Astronautics Engineering, Harbin Institute of Technology, Harbin Heilongjiang 150001, China |
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| Abstract: | To improve the accuracy of camera calibration for the stereo system of lunar rover and 3-D reconstruction,an amended Tsai's two-stage calibration technique based on multiple in-plane calibration points was put forward in this paper.The reconstruction for space scene was processed in using linear 3-D reconstruction algorithm according to the calibration and match.The least-square method was used to fit terrain surface in the field-of-view.The results of the calibration for a template and 3-D reconstruction of some picture showed that this algorithm was fast and had high precision,which was feasible for lunar rover's stereo vision. |
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| Keywords: | Lunar rover Stereo vision Camera Calibration 3-D reconstruction |
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