Full-Text Search:
Home|About CNKI|User Service|中文
Add to Favorite Get Latest Update

Research on Calibration of Intrinsic Parameters for Space Manipulator Camera Based on 2D Planar Pattern

TAN Qimeng;HU Chengwei;GAO Sheng;Beijng Institute of Spacecrfat System Engineering;  
Calibration of intrinsic parameters has been considered as an important premise and guarantee for estimating accurate position and orientation of a cooperative target to satisfying the task and configuration of space manipulator camera. A novel approach on calibration of intrinsic parameters for space manipulator camera based on a 2D target is designed in the article, which can be used to calculate a few parameters such as focal length, coordinates of principal point, coefficients of lens distortion. First of all, projection matrix between 2D target and camera image can be acquired from several different target photos by camera; secondly, constraint equations of intrinsic parameters are formulated; thirdly, part parameters i.e. focal length and coordinates of principal point can be computed according to the eigenvalue decomposition(EVD); finally, a non-linear model of camera is constructed by introducing radial and tangential distortion, and an optimal resolution of intrinsic parameters can be calculated by Levenberg-Marquardt algorithm based on considering above computed parameters as initial values. Experiment has shown that the approach fits for calibration of intrinsic parameters, and the calibration results all satisfy the required accuracy of 3D position and orientation of cooperative target.
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©CNKI All Rights Reserved