Calibration method of camera parameters for coal level measurement in coal bi
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摘要: 针对煤仓煤位光电测量装置中的摄像机内外参数标定问题，提出了一种基于二维平面方格的摄像机参数标定方法。该方法采用黑白二值划分标定板图案，以黑白方格的交点为标定角点，同时考虑摄像机在不同视角的成像姿态，以获得尽可能丰富的位置信息；根据角度特征的旋转不变性，采用Harris算法提取角点，并采用非线性最优化方法进行参数标定。在神华神东煤炭集团大柳塔煤矿地面煤仓进行了工业性试验，结果表明，该方法能够获得较好的煤仓煤位深度标定结果，误差在许可范围内，满足煤仓煤位深度估计的应用需要。Abstract: A calibration method of camera parameters based on planar grid was proposed to deal with the problem of intrinsic and extrinsic parameters calibration for photoelectric measuring device in coal bin. Two values of black and white are used to divide pattern on the calibration plate, and the intersection points of black and white values are taken as calibration points. Imaging postures with different perspectives are considered to obtain position information as many as possible. According to rotation invariance of angle feature, Harris algorithm is used to extract angular points, and nonlinear optimization method is adopted to calibrate parameters. The industrial tests are taken in coal bin of Daliuta coal mine of Shendong Coal Group. The test results show that the method can achieve better calibration results of coal level, and error is accepted, which meets needs of depth estimation of coal level in coal bin.
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