本文選題：非參數(shù)模型 + 校準(zhǔn)平臺(tái)　； 參考：《中國(guó)民航大學(xué)》2017年碩士論文

【摘要】：近年來(lái)隨著航空航天、大型艦船、高速動(dòng)車等大型裝配制造業(yè)對(duì)數(shù)字化裝配要求的不斷提高,人們對(duì)現(xiàn)場(chǎng)測(cè)量任務(wù)提出了更嚴(yán)格的要求。視覺(jué)測(cè)量技術(shù)因?yàn)榫邆浞墙佑|、實(shí)時(shí)性強(qiáng)、精度高等顯著優(yōu)點(diǎn),被當(dāng)做是實(shí)現(xiàn)現(xiàn)場(chǎng)、在線測(cè)量的最有效的手段之一。相機(jī)內(nèi)參數(shù)校準(zhǔn)是視覺(jué)測(cè)量系統(tǒng)中的重要一環(huán),對(duì)整個(gè)測(cè)量系統(tǒng)的諸多性能造成重要影響,已經(jīng)成為關(guān)鍵性技術(shù)問(wèn)題。目前相機(jī)內(nèi)參數(shù)校準(zhǔn)多是采用參數(shù)化模型解算的方式,存在很多固有的缺陷,如相機(jī)內(nèi)參數(shù)之間的相關(guān)性影響、優(yōu)化求解的非線性不穩(wěn)定性等,難以滿足現(xiàn)代裝配制造業(yè)的高精度、大空間測(cè)量的要求。本文采用純光學(xué)方法精確模擬相機(jī)的成像過(guò)程,通過(guò)構(gòu)造三維空間成像光束和圖像點(diǎn)之間的關(guān)系,從而建立像面與空間角矢量的對(duì)應(yīng),真實(shí)地反映并重現(xiàn)相機(jī)成像的逆過(guò)程,突破具體空間的約束,從原理上實(shí)現(xiàn)大空間、高精度測(cè)量相機(jī)的精確校準(zhǔn)。通過(guò)研究非參數(shù)模型的內(nèi)參數(shù)校準(zhǔn)方法,搭建了相應(yīng)的校準(zhǔn)平臺(tái),實(shí)驗(yàn)驗(yàn)證了方法的可行性,并針對(duì)校準(zhǔn)控制點(diǎn)的圖像處理進(jìn)行了研究。本文將從以下幾個(gè)方面進(jìn)行展開(kāi):1.研究了相機(jī)常規(guī)的內(nèi)參數(shù)校準(zhǔn)方案,選擇兩種常規(guī)的校準(zhǔn)手段進(jìn)行初步校準(zhǔn),闡述其校準(zhǔn)原理并指出不足。另一方面,針對(duì)不同像元尺寸的相機(jī)進(jìn)行模擬實(shí)驗(yàn),分析其對(duì)參數(shù)模型的影響。2.研究了一種非參數(shù)模型的內(nèi)參數(shù)校準(zhǔn)方法,分析其校準(zhǔn)原理和具體的實(shí)施方案,并構(gòu)建校準(zhǔn)平臺(tái),同時(shí)對(duì)影響非參數(shù)模型內(nèi)參校準(zhǔn)方法的相關(guān)誤差進(jìn)行分析。3.對(duì)校準(zhǔn)控制點(diǎn)進(jìn)一步剖析。重點(diǎn)研究紅外LED燈作為校準(zhǔn)點(diǎn)的優(yōu)越性,并設(shè)計(jì)實(shí)驗(yàn),一方面從物距、視場(chǎng)角等角度對(duì)校準(zhǔn)控制點(diǎn)中心精度的提取做了相關(guān)的分析,并得出了相應(yīng)的結(jié)論;另一方面,分析校準(zhǔn)控制點(diǎn)的質(zhì)心定位方法,得到相應(yīng)的結(jié)論。4.采用非參數(shù)模型的內(nèi)參校準(zhǔn)方法對(duì)實(shí)驗(yàn)室相機(jī)進(jìn)行校準(zhǔn),得到了相應(yīng)的內(nèi)參數(shù)模型。設(shè)置交比不變性驗(yàn)證實(shí)驗(yàn),驗(yàn)證非參數(shù)模型校準(zhǔn)方法的可行性及穩(wěn)定性都優(yōu)于常規(guī)的參數(shù)化模型校準(zhǔn)方法,能夠有效地提高測(cè)量不確定度指標(biāo)。
[Abstract]:In recent years, with the increasing requirements of digital assembly in aerospace, large ships, high-speed motor cars and other large-scale assembly industry, people put forward more stringent requirements for the field measurement task. Visual measurement technology is regarded as one of the most effective means to realize field and on-line measurement because of its advantages of non-contact, high real-time and high precision. The calibration of camera parameters is an important part of the vision measurement system. It has become a key technical problem and has an important impact on the performance of the whole measurement system. At present, the calibration of camera parameters is mostly based on the parameterized model, which has many inherent defects, such as the influence of the correlation between the camera parameters, the nonlinear instability of the optimization solution, and so on. It is difficult to meet the requirement of high precision and large space measurement in modern assembly manufacturing industry. In this paper, the pure optical method is used to accurately simulate the imaging process of the camera. By constructing the relationship between the 3D imaging beam and the image points, the correspondence between the image plane and the space angle vector is established, and the inverse process of the camera imaging is truly reflected and reproduced. The precision calibration of large space and high precision measuring camera is realized in principle by breaking through the restriction of specific space. By studying the internal parameter calibration method of the non-parametric model, the corresponding calibration platform is built, the feasibility of the method is verified by experiments, and the image processing of the calibration control point is studied. This article will be carried out from the following aspects: 1. This paper studies the routine internal parameter calibration scheme of the camera, selects two normal calibration methods to carry on the preliminary calibration, expounds its calibration principle and points out the deficiency. On the other hand, the simulation experiment of camera with different pixel size is carried out to analyze its influence on the parameter model. This paper studies a non-parametric model's internal parameter calibration method, analyzes its calibration principle and concrete implementation scheme, and constructs a calibration platform. At the same time, it analyzes the relative errors that affect the non-parametric model's internal parameter calibration method. Further analysis of calibration control points. The superiority of infrared LED lamp as calibration point is studied emphatically, and the experiment is designed. On the one hand, the accuracy of calibration control point is analyzed from the angle of object distance and field of view angle, and the corresponding conclusions are obtained. The centroid positioning method of calibration control point is analyzed, and the corresponding conclusion. 4. The calibration method of internal parameter of non-parametric model is used to calibrate the laboratory camera, and the corresponding internal parameter model is obtained. The feasibility and stability of the non-parametric model calibration method are verified by the cross-ratio invariance verification experiment, which is superior to the conventional parametric model calibration method, which can effectively improve the uncertainty index of measurement.
【學(xué)位授予單位】：中國(guó)民航大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG806

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