External Parameters Calibration for Binocular Camera based on Linear Solution and Nonlinear Optimization

作者：Gang Peng, Lu Hu, Yue Xu, Zhangang Wu, Xukang Zhu · 年份：2023 · DOI：10.1109/iciea58696.2023.10241915 · 被引用次数：1 · 研究领域：Advanced Vision and Imaging、Optical measurement and interference techniques、Image Processing Techniques and Applications

In the binocular stereo vision image processing, generally the pose information between the camera coordinate systems of the right eye and the left eye is widely employed, and the inaccurate pose information directly affects the validity of image processing. However, conventional algorithms to calibrate binocular cameras equipped with depth estimation function often need to collect multiple frames of binocular images to calculate and obtain external parameters, resulting in a long calibration time. Aiming at this problem, this paper proposes a novel external parameters calibration algorithm for binocular cameras based on linear solution and nonlinear optimization, which makes full use of the depth information of binocular camera. Compared with the open-source algorithm Kalibr, this method needs fewer frames of images for calibration and significantly shortens the calibration time while taking into account the calibration accuracy. The method simplifies the process of binocular external parameters calibration and improves the efficiency.