用准直仪实现相机与姿态的快速高精度标定。
High-precision visual navigation device calibration method based on collimator
- 基于准直仪光学特性，仅需单张图像完成相机标定。
- 通过坐标系旋转传递模型，姿态误差小于0.0586度，重投影误差低于0.1463像素。
- 适合需要快速、高精度标定的视觉导航系统研发人员使用。
视觉导航设备需精确标定以实现高精度定位与导航，涵盖相机与姿态标定。为解决传统多图像标定耗时长、姿态调节复杂的痛点，本文提出一种基于准直仪的标定方法与系统。利用准直仪的光学特性，设计单图像相机标定算法；结合校准架的精密调节机构，建立坐标系间的旋转传递模型，实现高效姿态标定。实验表明，该方法精度与稳定性可媲美传统多图像标定技术：重投影误差小于0.1463像素，平均姿态角误差低于0.0586度，标准差小于0.0257度，展现高精度与强鲁棒性。
原文摘要 · Abstract (English)
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. 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 are less than 0.1463 pixels, and average attitude angle errors are less than 0.0586 degrees with a standard deviation less than 0.0257 degrees, demonstrating high precision and robustness.
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