【作者】 李艳军；

【导师】 邾继贵；

【作者基本信息】 天津大学 ， 测试计量技术与仪器， 2006， 硕士

【摘要】 论文根据传统立体视觉传感器体积大、测量速度慢、成本高等缺点,研究了一种用于测量空间三维点坐标的单摄像机立体视觉传感器模型。在结构设计方面,变传统的双摄像机结构为单摄像机结构,加装两组对称的光学反射镜片,镜像出一对虚拟摄像机,可在同一个摄像机像面上采集到存在视差的两幅图像,从而恢复空间点的三维信息。论文从理论设计上和实践上进行了深入的研究和探讨,并完成了相应的实验验证。论文主要研究工作如下:1.结合结构光传感器和立体视觉传感器的优点,研究了基于单摄像机虚拟立体视觉传感器的方法。该方法采用立体视差原理,由单个摄像机即可得到视场内所有物体特征点的三维信息。既提高了测量速度,同时又降低了传感器的成本。2.分析了立体视觉传感器基线距与传感器测量精度的关系,为单摄像机立体视觉传感器的结构设计提供理论基础。3.根据单摄像机立体视觉传感器的原理,对传感器的结构进行设计。详细分析了反射镜的摆放角度对基线距、传感器交汇角的影响。4.根据传感器的结构设计,分析了系统中实摄像机和反射镜片的位置对虚拟摄像机位置的影响。5.相对与传统立体视觉传感器,本结构的视场范围发生了较大的改变。基于此,本文详细分析了各参数对系统视场的影响;反之,在得到系统视场的基础上,对系统结构进行优化设计。6.在立体视觉传感器标定原理的基础上,研究了单摄像机立体视觉传感器的标定方法。该标定过程中,只需对实摄像机的参数进行标定,简化了标定过程,降低了标定工作量。更多还原

【Abstract】 According to the disadvantages of conventional vision sensor such as large volume、slow measurement and high cost, a kind of low cost single camera model used to measure coordinates in space is introduced. In structure design, the traditional double CCD cameras is changed to single CCD camera. By adding two groups of symmetrical reflectors, the single camera is imaged to a pair of virtual cameras. Then two pictures of the same object with parallax can be gathered from one CCD’s image surface. After that, the three-dimensional information of the point can be retrieved.This dissertation’s main work is as follows:1. Combining the advantages of structured light sensor and stereo vision sensor, a method based on single camera simulating stereo vision sensor has been studied. Based on stereoscopic vision, the three-dimensional information of the point can be retrieved by only one CCD’s camera. Not only has the measurement speed been advanced, but also has the sensor’s cost been decreased.2. The relationship between stereo vision sensor’s baseline distance and stereo vision sensor’s measurement accuracy has been analyzed. This relationship provides the theoretical foundation of single camera stereo vision sensor’s structural design.3. The sensor’s structure has been designed based on the theory of the single camera stereo vision sensor, and this dissertation has analyzed the baseline distance、the sensor’s cross angle infected by placement angles of the optical reflectors in detail.4. Based on the structural design of the sensor, this dissertation has analyzed the position of the virtue camera influenced by the position of the real camera and the reflector.5. Compared with the two CCD cameras system, the field-of-view of this sensor has been decreased greatly. This dissertation has analyzed the system’s field of view influenced by every parameter; whereas, optimum design of the system’s structure has based on the system’s filed of view.6. The calibration of single camera stereo vision sensor has been researched based on the calibration of two CCD cameras system. In the process of the calibration, only one CCD camera needs to calibrate which has simplified the calibration process and reduced calibration workload.更多还原