Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2870
標題: 攝影機垂直度校正
Calibration of camera perpendicularity
作者: 陳建霖
Chen, Jian-Lin
關鍵字: 攝影機垂直度校正;Calibration of camera perpendicularity;三次元座標量測儀;非共平面攝影機校正;最小平方誤差法;蒙地卡羅法;Zhang校正;coordinate measuring machine;Non-coplanar camera calibration;The least square error method;Monte-Carlo;Zhang’s Camera Calibration method
出版社: 機械工程學系所
引用: [1] R. Y. Tsai, “A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology using off-the-shelf TV cameras and Lenses,” IEEE. J. of Robotics and Automation, Vol RA-3 NO. 4, pp. 323-344, (1987). [2] Zhang.Z,“A flexible new technique for camera calibration”, Technical Report MSR-TR-98-71, Microsoft Research, (1999). [3] Bougnoux, S. “From projective to Euclidean space under any Practical situation, a criticism of self-calibration.”In Proceedings of he 6th International Conference on Computer Vision, 790-796,(1998). [4] Frahm, J. M. and Koch, R. “Camera calibration with known rotation. ”Proceedings of the Ninth IEEE International Conference on Computer Vision,1418-1425. (2003). [5] Zhang, Z. “Camera calibration with one-dimensional objects.” Technical Report MSR-TR-2001-120, Microsoft Research.(2002). [6] Malis, E. “ Visual servoing invariant to changes in camera-intrinsic parameters. ”IEEE Transaction on Robotics and Automation, 72-81. (2004). [7] LiMin Zhu, HongGen Luo, Xu Zhang, “Uncertainty and sensitivity analysis for camera calibration”,Industrial Robot: An International Journal, Vol. 36 Iss: 3 pp. 238 - 243. (2009). [8] Rupp, Stephan; Elter, Matthias; Breitung, Michael; Zink, Walter; Kublbeck,“Robust Camera Calibration using Discrete Optimization” Transactions on Engineering,Science and Computing, Vol.13, pp. 250 – 254. (2006). [9] K. Madsen, H.B. Nielsen, O. Tingleff, “ METHODS FOR NON-LINEAR LEAST SQUARES PROBLEMS,”(2004). [10] D. C. Brown. “Close-range camera calibration. ” Photogrammetric Engineering, 37(8):855–866,(1971). [11] G. Bradski and A. Kaehler, Learning OpenCV: Computer vision with the OpenCV library: O''Reilly Media, (2008). [12] GSL - GNU Scientific Library, http://www.gnu.org/software/gsl/.(2010). [13] E . Anderson, J. Dongarra, “Generalized QR Factorization and Its Applications,”(1992).
摘要: 
自動光學檢測在各大產業裡扮演著重要的角色,本研究主要探討攝影機垂直度校正問題,校正攝影機是否垂直於輸送平台。本文所提出之演算法為在攝影機座標系相對於世界座標系兩座標系都不動的情形下,利用非共平面的方式驅動三次元座標量測儀移動攝影機往攝影機光軸方向平移,擷取多張平行校正板資訊,採用最小平方誤差法求解攝影機內外部參數,計算出攝影機相對於校正板之角度偏差量,進而調整至垂直。
本文以蒙地卡羅法模擬攝影機校正之不確定度,比較非共平面攝影機校正與Zhang校正之不確定度分析,在實際量測上分析可能影響攝影機校正誤差之因素。最終目的為將攝影機調整至垂直於校正板,解決自動光學檢測攝影機垂直度問題。

Automated optical inspection in the major industry plays an important role, this study was to investigate the camera perpendicularity calibration, the calibration camera perpendicular to the conveyor platform. Proposed algorithm in the camera coordinate system relative to the circumstances of the world coordinate system two standard Department is not moving, he use of non-coplanar manner to drive the translation of the coordinate measuring machine to move the camera to the camera optical axis direction, to retrieve more than sheets parallel to the calibration board information.Using the least square error method to solve the camera internal and external parameters, calculate the deviation of the camera relative to the calibration board angle, and then adjust to the perpendicularity.
Camera calibration uncertainty of Monte Carlo simulation to compare the non-plane camera calibration and Zhang calibration uncertainty analysis, camera calibration error analysis may be in the actual measurement factors. The ultimate aim of the camera to adjust to the perpendicular calibration board. Solve the problem of automatic optical inspection camera perpendicularity.
URI: http://hdl.handle.net/11455/2870
其他識別: U0005-0708201214473800
Appears in Collections:機械工程學系所

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