CAJ | 학술논문

为了实现对近景目标物的三维测量，研制了一种小型仿生复眼系统。介绍了该复眼系统的结构及其参数设计原则，并对该系统采用的标定、三维测量等算法进行研究。首先根据复眼成像特点搭建了标定和测量平台，并分别使用张正友的方法、直接线性变换法、Tsai 式两步法三种摄像机标定方法对复眼的中心子眼进行标定，通过比较实验结果发现Tsai式标定方法精度更高，更适用于本复眼系统的标定。然后针对边缘子眼光轴与图像传感器不垂直问题，提出了一种新的图像畸变数学模型，有效的提高了边缘子眼的标定精度。最后建立了多子眼三维探测模型，并探索了多子眼成像对复眼相机测量精度的影响，认为三子眼可获得比双子眼更高的精度和稳定性。实验结果表明，在距离复眼相机150～260 mm范围内，该复眼探测系统的三维测量相对误差在2%左右，在满足仪器小型化的同时能基本实现近景三维测量。
위료실현대근경목표물적삼유측량，연제료일충소형방생복안계통。개소료해복안계통적결구급기삼수설계원칙，병대해계통채용적표정、삼유측량등산법진행연구。수선근거복안성상특점탑건료표정화측량평태，병분별사용장정우적방법、직접선성변환법、Tsai 식량보법삼충섭상궤표정방법대복안적중심자안진행표정，통과비교실험결과발현Tsai식표정방법정도경고，경괄용우본복안계통적표정。연후침대변연자안광축여도상전감기불수직문제，제출료일충신적도상기변수학모형，유효적제고료변연자안적표정정도。최후건립료다자안삼유탐측모형，병탐색료다자안성상대복안상궤측량정도적영향，인위삼자안가획득비쌍자안경고적정도화은정성。실험결과표명，재거리복안상궤150～260 mm범위내，해복안탐측계통적삼유측량상대오차재2%좌우，재만족의기소형화적동시능기본실현근경삼유측량。
In order to realize close-range measurement, a miniaturized bionic compound-eye system was developed and the design principles of the system structure and parameters were introduced. Besides, the calibration and three-dimensional measurement algorithms were investigated. First, the platform for calibration and measurement was built based on imaging characteristics of the compound-eye. Three kinds of camera calibration methods, including Zhang’s method, the direct linear transformation method and Tsai two-step method, were carried out to calibrate the central sub-eye. By comparing the experimental results, it was determined that Tsai two-step method with high precision and accuracy was suitable for the calibration of the compound-eye system presented. Then, to solve the problem that the edge sub-vision axis was not perpendicular to the image sensor, a new distortion model that effectively improved the edge sub-eye calibration accuracy was proposed. Finally, a multiple sub-eye detection model was established, and its impact on the compound-eye camera measurement accuracy were discussed, from which it was determined that three sub-eye condition had better accuracy and stability than the two-eye. Experimental results indicate that the relative error of the compound eye three-dimensional detection system is about 2%when the object distance ranges from 150～260 mm, and this system could achieve the instrument miniaturization and basic close-range measurement.