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密级：

NANCHANG UNIVERSITY

学 士 学 位 论 文

THESIS OF BACHELOR

（2013 —2017 年）

题 目 双目视觉相机标定与立体匹配算法研究

学 院： 信息工程学院 系 电子系 专业班级： 卓越通信131班 学生姓名： 蒋杨婷 学号： 6102213916 指导教师： 陈其纶 职称： 讲师 起讫日期：

摘要

双目视觉相机标定与立体匹配算法研究

专 业： 通信工程 学 号：6102213916 学生姓名： 蒋杨婷 指导教师：陈其纶

摘要

本文基于双目视觉图像传输系统重点研究了摄像机标定与立体匹配两个模块。在摄像机标定中，重点阐述了三大坐标系、两种摄像机模型以及张正友平面标定法，基于Matlab实现了立体标定过程并对实验结果进行了分析；在立体标定中，重点阐述了基于全局误差能量最小化立体匹配算法和基于线性生长立体匹配算法的原理，基于Matlab仿真了立体匹配算法的实现过程，并就可靠度与计算量两个指标对两种匹配算法进行了比较分析。

关键词： 双目视觉，摄像机标定，立体匹配，张正友平面标定，摄像机坐标系

三维重建，模板匹配

I

Abstract

Binocular vision image transmission system design

Abstract

Based on the binocular visual image transmission system, this paper focuses on the camera calibration and stereo matching .In the camera calibration, this study was expounded the three coordinates, the two kinds of camera models and ilf plane calibration method, camera calibration was implemented based on Matlab and the experiment results are analyzed; In stereo calibration, this study was expounded the principle of stereo matching algorithm based the global error energy minimization and stereo matching algorithm based on linear growth, and the implementation process of the stereo matching algorithm based on Matlab, and the reliability and the amount of calculation of two indicators of the two matching algorithms are analyzed in comparison.

Keyword: Binocular vision, camera calibration, stereo matching, ilf plane calibration,

the camera coordinate system of 3 d reconstruction, template matching

II

目录

目录

摘要........................................................................................................................ I Abstract ................................................................................................................. II 第一章 绪论..................................................................................................... - 1 - 1.1背景及研究意义......................................................................................... - 1 - 1.2国内外研究现状......................................................................................... - 1 - 1.3论文的主要工作......................................................................................... - 2 - 1.4论文的组织结构......................................................................................... - 2 - 第二章 双目视觉系统..................................................................................... - 2 - 2.1双目立体视觉系统简介............................................................................. - 2 - 2.2双目立体视觉系统应用............................................................................. - 3 - 2.3摄像机立体标定......................................................................................... - 4 - 2.3.1像平面坐标系、摄像机坐标系和世界坐标系...................................... - 4 - 2.3.2摄像机模型.............................................................................................. - 6 - 2.3.3张正友标定平面标定.............................................................................. - 8 - 2.4立体匹配..................................................................................................... - 9 - 2.4.1基于全局误差能量最小化的区域匹配算法.......................................... - 9 - 2.4.2基于线性生长区域立体匹配算法........................................................ - 11 - 2.4.3从差距图生成深度图............................................................................ - 12 - 2.5本章小结................................................................................................... - 13 - 第三章 立体标定与匹配............................................................................... - 14 - 3.1双目摄像机标定的实现........................................................................... - 14 - 3.1.1左右两摄像机单目标定........................................................................ - 14 - 3.1.2双目立体视觉标定................................................................................ - 18 - 3.1.3实验结果分析........................................................................................ - 19 - 3.2立体匹配仿真结果................................................................................... - 19 - 3.2.1基于全局误差能量最小化区域匹配算法............................................ - 20 - 3.2.2基于线性生长区域匹配算法................................................................ - 23 - 3.3不同匹配算法差异分析........................................................................... - 26 - 3.4本章小结................................................................................................... - 28 - 第四章 总结与展望....................................................................................... - 28 -