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分析了RGB-D传感器的标定模型及标定方法,利用标定棋盘和Matlab工具箱对RGB-D传感器进行了标定。采用摄像机标定方法计算了彩色摄像机和深度摄像机的初始化参数,根据标定棋盘和标定板的共面关系计算了相对位姿的初始估计值,并采用非线性最小化方法对标定参数进行了优化。实验结果表明:标定后的彩色图像和深度图像的重投影误差较小,深度测量不确定性标准差比标定前约减小了1/2,有效地提高了RGB-D传感器的测量精度。
The calibration model and calibration method of RGB-D sensor were analyzed. The RGB-D sensor was calibrated by calibrating the board and Matlab toolbox. The initial parameters of the color camera and the depth camera were calculated by the camera calibration method. The initial estimate of the relative pose was calculated according to the coplanarity of the calibration board and the calibration plate. The calibration parameters were optimized by using the nonlinear minimization method. Experimental results show that the error of reprojection between the calibrated color image and the depth image is small, and the standard deviation of the depth measurement uncertainty is reduced by about 1/2 compared with that before calibration, which effectively improves the measurement accuracy of the RGB-D sensor.