多视图场景确定下的空间点位置视觉标定方法

针对空间特征点三维位置标定问题，提出一种多视图场景确定下的空间点位置视觉标定方法。该方法基于计算机视觉原理，通过在场景内放置棋盘模板确定图像场景位姿参数，而后根据多视图图像下的空间点图像坐标和场景位姿参数求解空间点三维位置坐标。试验结果表明，该方法下的空间点标记位置与真实位置间的距离误差小于1 mm，适用于高精度要求下的特征点位置标定。

Vision Calibration Method of Spatial Point Position Under Multi-View Scene Determination

To solve the three-dimensional(3-D) position calibration problem of spatial feature points, a vision calibration method of spatial point position under multi-view scene determination is proposed. Based on the computer vision principle, the scene pose of image is determined through placing a chessboard pattern in the scene, and then the 3-D position of spatial point is solved by using the image coordinates of spatial point in multi-view images and the scene poses of multi-view images. Results show that the 3-D position of spatial point calibrated by the method has a distance error less than 1 mm, which means the method is suitable for high-accuracy point position calibration.