基于平行光管与二维旋转平台的长焦相机内参标定

长焦镜头能够采集位置更远的图像,而长焦镜头成像的特殊性对传统相机标定方法提出了挑战。针对这一问题，阐述了一种基于平行光管和二维旋转平台的相机内参标定方法。长焦相机被架设在二维旋转平台上，对放置在平行光管内的透过式棋盘格成像。通过旋转二维平台,改变相机的位置，可以得到不同位置下清晰的棋盘格图像。采集了棋盘格格点的像素坐标以及二维平台的角度数据,建立了合适的模型，优化求解出了长焦相机的内参参数，实现了实验室内对长焦镜头的标定。由模型计算得到的重投影棋盘格角点的图像坐标与在实际图像中检测到的棋盘格角点坐标相比，平均误差约为0.5个像素,这验证了算法的可行性。

Internal Reference Calibration of Telephoto Camera Based on Parallel Optical Tube and Two Dimensional Rotating Platform

The telephoto lens can capture images from farther locations, but the particularity of telephoto lens imaging challenges the traditional camera calibration methods. To solve the problem, this paper presents a camera internal reference calibration method based on the parallel optical tube and two-dimensional rotating platform. The camera is mounted on a two-dimensional rotating platform to image a transmissive checkerboard placed in a parallel light tube. Rotate the 2D platform to change the position of the camera, and get a clear checkerboard image under different positions. The pixel coordinates of the checkboard points and the angle data of the 2D platform are collected to establish the appropriate model, and the internal parameters of the telephoto camera are optimized and solved. Thus, the calibration of the telephoto camera in the laboratory is realized. Compared with the actual image, the average error is about 0.5 pixels, which verifies the feasibility of the algorithm.