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首页线扫描相机高精度标定与畸变校正新方法
线扫描相机高精度标定与畸变校正新方法
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"这篇研究论文提出了一种针对线扫描相机的新型标定方法,旨在进行高精度的二维平面测量。该方法特别关注于处理图像畸变问题,以提高测量的准确性。" 线扫描相机在诸如工业缺陷检测、精密测量、生物技术和交通流量检测等多个领域有广泛应用,因其能提供比传统相机更大的视场且分辨率高而受到青睐。然而,线扫描相机在运动方向与物体平面不平行时会出现图像畸变,这会严重影响测量的精度。 论文首先介绍了线扫描相机的内在参数模型,该模型基于相机的工作原理。然后,为了考虑这种运动方向与物体平面非平行导致的图像畸变,论文提出了一种改进的相机模型,将透视变换与外在参数模型相结合。这一创新的模型设计旨在更准确地描述和校正由非平行运动引起的图像失真。 接下来,作者采用了非线性阻尼最小二乘法对上述模型中的参数进行标定,利用棋盘格图案作为标定靶。这种方法通过优化算法来寻找最佳参数,以最小化图像畸变并提高测量精度。 论文中进行了一系列测量实验,实验结果验证了所提出方法的有效性。这些实验可能包括在不同条件下使用线扫描相机进行平面目标的捕获和分析,对比了使用新标定方法前后的测量误差,展示了新方法在减少误差和提高测量精度方面的显著优势。 关键词:线扫描相机,相机标定,畸变校正,视觉测量,平面测量。这些关键词表明了本文的核心内容和研究重点,即解决线扫描相机的畸变问题,提升二维测量的精度,以及应用视觉测量技术进行实际的平面测量任务。 这项研究为线扫描相机的标定提供了新的思路,对于需要高精度二维测量的工程应用具有重要的理论和实践意义。通过对相机模型的改进和标定方法的优化,有望在实际工业场景中实现更准确、可靠的测量结果。
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Abstract—In this paper, a calibration method for line scan
cameras with image distortion is proposed to perform high-
precision planar measurement. The intrinsic parameter model is
presented according to the imaging work principle of the line
scan camera. Moreover, an improved camera model is proposed
via integrating the perspective transformation with the extrinsic
parameter model in the consideration of image distortion
resulting from the non-parallelism of motion direction and
object plane. On this basis, the parameters in above model are
calibrated based on nonlinear damping least square method with
a planar chessboard pattern. A set of measurement experiments
are conducted and the results verify the effectiveness of proposed
approaches.
Index Terms—Line scan camera, camera calibration,
distortion correction, visual measurement, planar measurement.
I. INTRODUCTION
Line scan camera is widely applied to various fields such
as industrial defect detection, precision measurement,
biotechnology, traffic flow detection etc. Due to its capability
of providing larger field of view with high resolution
compared to conventional area array camera [1-7]. Tao et al.
designed a novel instrument based on line scan imaging
system to detect the surface flaw for a large aperture optical
element with size of 810 mm × 460 mm and achieved
inspection precision is 3 [3]. An automated measurement
system using line scan cameras is developed to detect edges
and measure lengths of steel strips [4]. In addition to the
industrial field, a line scan camera is successfully applied for
a real penetration measurement system to ensure the pile can
support the weight of structure in the process of building [5].
Line scan cameras are also utilized to measure the isolated
cardiac muscle cell length [6], and tree ring length [7].
Line scan camera employs linear arrays to provide
extended viewing areas by virtue of scanning motion. Thus,
the work modes of line scan camera imaging system are
generally classified into two categories: (i) the camera is
moving while the object is stationary (CMOS); (ii) the object
is moving while the camera is stationary (OMCS). The
existing methods always utilize CMOS mode to acquire the
full image due to the inconvenience of moving the object such
as telemetry. On the contrary, OMCS mode is often adopted
to fit for those applications where the objects are fast moving
and high resolution is desired such as production line.
When it comes to use line scan camera for measurement,
camera calibration is a necessary step to find the
transformation relationship between the visual coordinate
This work is supported in part by the National Natural Science Foundation of China under Grant 61503378, 61473293 and 61403382.
Authors are with the Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
Jiabin Zhang is also with University of Chinese Academy of Science, Beijing 100049, China. The other authors are also with CASI Vision Technology CO.,
LTD., Henan province, 471000, China (e-mail: fei.shen@ia.ac.cn).
system and the measurement coordinate system. A two-step
calibration method was proposed by Horaud to estimate the
projection parameters of a 3-D point onto a straight line [8].
However, the results of calibration depend on the precision of
the calibration pattern’s displacements along Z-axis.
Afterwards, improved calibration methods [9, 10] use a
calibration pattern with 3-D façade whose coordinate of Z-
axis is known in advance. Nevertheless, this type of approach
needs a calibration pattern which is difficult to make. Besides,
a two-stage calibration method for close-range
photogrammetric applications is proposed by rigidly coupling
the line scan camera to an auxiliary frame camera whose
intrinsic parameters have been obtained in advance [11]. It is
noted that using the auxiliary camera is an additional source
of errors. A novel linear method is presented to estimate the
intrinsic and extrinsic parameters of a 1D camera using a
planar object instead of 3D landmarks. But the proposed
model cannot be straightforwardly applied to solve world
coordinates through image coordinates [12]. The above
available calibration methods need either auxiliary devices or
strict requirements which limited the application of these
methods.
The motivation of this paper is to propose a calibration
method for high precision 2-D measurement only using a
planar chessboard. Different from the pin-hole model for the
area array camera, the intrinsic parameter model of line scan
camera is presented based on its imaging work principle.
Moreover, an improved model integrating the perspective
transformation is proposed to correct image distortion caused
by the non-parallelism of motion direction and object plane.
Then a three-stage approach based on nonlinear damping least
square method is proposed to perform the calibration. The
proposed calibration methods are verified on our designed
imaging system.
The remaining of the paper is organized as follows. Section
Ⅱ introduces the line scan imaging system for the
measurement. The line scan camera model is presented in
Section Ⅲ. The calibration method for the model is
introduced in Section Ⅳ. Section V shows the experiment
results and error analysis. Finally, the paper is concluded in
Section VI.
II. IMAGING SYSTEM FOR HIGH PRECISION TWO-
D
IMENSIONAL MEASUREMENT
In this paper, an OMCS line scan camera imaging system
A New Calibration Method of Line Scan Camera for High-Precision
Two-Dimensional Measurement
Jiabin Zhang, Zhengtao Zhang, Member, IEEE, Fei Shen, Member, IEEE, Feng Zhang, Hu Su
2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)
Munich, Germany, August 20-24, 2018
978-1-5386-3593-3/18/$31.00 ©2018 IEEE 678
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