用闪烁星型图案和准直器实现事件相机高精度长距标定。
Collimator-assisted high-precision calibration method for event cameras
- 基于准直器球面运动模型线性求解参数，再非线性优化提升精度。
- 实测显示在不同条件下均优于现有方法，精度与可靠性更优。
- 适合需要长距离高精度视觉感知的系统，如自动驾驶、机器人导航。
事件相机是一种类脑视觉传感器，具有高动态范围和高时间分辨率等优势。其几何标定（即确定内参与外参）在远距离测量场景中仍面临重大挑战。为满足远距离与高精度双重需求，本文提出一种利用闪烁星型图案的准直器辅助事件相机标定方法。该方法首先通过准直器的球面运动模型线性求解相机参数，随后通过非线性优化进一步精细调整，实现高精度标定。在多种真实环境条件下进行的全面实验表明，所提方法在准确性与可靠性方面均持续优于现有事件相机标定技术。
原文摘要 · Abstract (English)
Event cameras are a new type of brain-inspired visual sensor with advantages such as high dynamic range and high temporal resolution. The geometric calibration of event cameras, which involves determining their intrinsic and extrinsic parameters, particularly in long-range measurement scenarios, remains a significant challenge. To address the dual requirements of long-distance and high-precision measurement, we propose an event camera calibration method utilizing a collimator with flickering star-based patterns. The proposed method first linearly solves camera parameters using the sphere motion model of the collimator, followed by nonlinear optimization to refine these parameters with high precision. Through comprehensive real-world experiments across varying conditions, we demonstrate that the proposed method consistently outperforms existing event camera calibration methods in terms of accuracy and reliability.
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