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Greedy calibration method for binocular camera system via characteristic homography matrix

Journal of Southeast University(English Edition) 2009年第2期25卷 193-198页

作者：刘天亮金飞逸罗立民东南大学影像科学与技术实验室南京210096

A plane-based and linear camera calibration technique without considering lens distortion is proposed in a greedy and intuitive framework for the binocular camera system. Characteristic homography matrix and consistency constraints in close range are employed in this calibration. First, in order to calculate the internal geometries of the cameras, total least-square fitting as a robust tool for the geometrical cost function is exploited to recover the accurate principal point of each camera from all the characteristic lines of the homography matrices for all model planes. Secondly, generic prior knowledge of the aspect ratio of pixel cells is incorporated into the system to obtain the exact principal length in each camera. Thirdly, extrinsic geometries are accurately computed for all planar patterns with respect to each monocular camera. Finally, the rigid displacement between binocular cameras can be obtained by imposing the consistency constraints in 3-space geometry. Both simulation and real image experimental results indicate that reasonably reliable results can be obtained by this technique. And the proposed method is sufficient for applications where high precision is not required and can be easily performed by common computer users who are not experts in computer vision.

关键词： close range calibration homography matrix consistency constraint stereovision

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An improved RANSAC algorithm for 3D wheel alignment

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Journal of Measurement Science and Instrumentation 2022年第4期13卷 407-417页

作者： CHENG Wei ZHU Zhifeng YAO Yong WANG Bing ZHOU Fang TANG Dezhi School of Electrical and Information Engineering Anhui University of TechnologyMa’anshan 243000China Anhui FCAR Electronic Technology Co. Ltd.Ma’anshan 243000China

Aiming at the defects of traditional four-wheel aligner such as many sensors,complex operation and slow detection speed,a fast and accurate 3D four-wheel alignment detection method is ***,a new and special circle center target board is designed to calibrate the camera,and then the registration of the homography matrix is optimized by using the improved RANSAC(Random sample consensus)algorithm combined with the designed special target board,and the parameters of the wheel alignment system are adjusted by using the space vector *** measurements are made to obtain the parameters of the four-wheel *** a calibration comparison experiment between the traditional target board and the new type of target board,and conduct a comparative test with the existing four-wheel aligner of the *** experimental results show that the use of the new target board-binding optimization algorithm can improve the calibration efficiency by about 9%to 21%,while improving the calibration accuracy by about 10.6%to 17.8%.And through the real vehicle test,it is verified that the use of the new target combined with the optimization algorithm can ensure the accuracy and reliability of the four-wheel *** method has a certain significance in the rapid detection of vehicle four-wheel alignment parameters.

关键词： computer vision four-wheel alignment binocular calibration RANSAC algorithm homography matrix

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维普期刊数据库

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An Approach to Measuring Vehicle Four-Wheel Alignment Parameters Based on Computer Vision

An Approach to Measuring Vehicle Four-Wheel Alignment Parame...

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2007 8th International Conference on Electronic Measurement & Instruments（ICEMI’2007）

作者： Wang Dechao Tu Yaqing (Department of Information Engineering Logistical Engineering University Chongqing 400016 China)

Due to traditional four-wheel alignment measurement techniques have such problems as need for many sensors, complicated calibration, fussy operation, low speed of inspection and low accuracy etc. Based on computer vision, the mathematical model for vehicle four-wheel alignment is set up. By taking sequence images of the target board fixed on the wheel in motion and calculating homography matrices between the target board and its images and rotation matrices, the directional cosine of rotation axis is obtained and further more the wheel alignment parameters are solved. Finally, the effectiveness of the mathematical model is verified by experiment.

关键词： mathematical model,four-wheel alignment,computer vision homography matrix

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