基于准直器的高精度视觉导航装置标定方法

IF 4.6 2区物理与天体物理 Q1 OPTICS

Optics and Laser Technology Pub Date : 2025-05-28 DOI:10.1016/j.optlastec.2025.113170

Shunkun Liang , Dongcai Tan , Banglei Guan , Zhang Li , Guangcheng Dai , Nianpeng Pan , Liang Shen , Yang Shang , Qifeng Yu

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引用次数: 0

摘要

视觉导航设备需要精确标定才能实现高精度定位和导航，其中包括相机标定和姿态标定。针对摄像机标定耗时长、姿态调整过程复杂的局限性，提出了一种基于准直仪的标定方法和系统。设计了一种以准直器为核心部件的标定框架。根据准直器的光学特性，介绍了一种单像相机标定算法。此外，结合定标架的精度调整机构，采用坐标系间的旋转传递模型，实现了高效的姿态定标。实验结果表明，该方法的精度和稳定性可与传统的多图像标定技术相媲美。具体来说，重投影误差≤0.1463像素，平均姿态角误差≤0.0586°，标准差≤0.0257°，具有较高的精度和鲁棒性。

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High-precision visual navigation device calibration method based on collimator

Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex attitude adjustment processes, this study presents a collimator-based calibration method and system. We designed a calibration frame with a collimator as its core component. Based on the optical characteristics of the collimator, a single-image camera calibration algorithm is introduced. In addition, integrated with the precision adjustment mechanism of the calibration frame, a rotation transfer model between coordinate systems enables efficient attitude calibration. Experimental results demonstrate that the proposed method achieves accuracy and stability comparable to traditional multi-image calibration techniques. Specifically, the re-projection errors

\leq

0.1463 pixels and average attitude angle errors

\leq

0.0586

^{\circ}

with a standard deviation

\leq

0.0257

^{\circ}

, demonstrating high precision and robustness.

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来源期刊

Optics and Laser Technology 物理-光学

CiteScore

8.50

自引率

10.00%

发文量

1060

审稿时长

3.4 months

期刊介绍： Optics & Laser Technology aims to provide a vehicle for the publication of a broad range of high quality research and review papers in those fields of scientific and engineering research appertaining to the development and application of the technology of optics and lasers. Papers describing original work in these areas are submitted to rigorous refereeing prior to acceptance for publication. The scope of Optics & Laser Technology encompasses, but is not restricted to, the following areas: •development in all types of lasers •developments in optoelectronic devices and photonics •developments in new photonics and optical concepts •developments in conventional optics, optical instruments and components •techniques of optical metrology, including interferometry and optical fibre sensors •LIDAR and other non-contact optical measurement techniques, including optical methods in heat and fluid flow •applications of lasers to materials processing, optical NDT display (including holography) and optical communication •research and development in the field of laser safety including studies of hazards resulting from the applications of lasers (laser safety, hazards of laser fume) •developments in optical computing and optical information processing •developments in new optical materials •developments in new optical characterization methods and techniques •developments in quantum optics •developments in light assisted micro and nanofabrication methods and techniques •developments in nanophotonics and biophotonics •developments in imaging processing and systems