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基于棋盘格标定板的标定方法是当今主流的2维激光雷达和摄像机标定方法(以2004年Zhang提出的方法最为经典),但是该方法在优化标定参数时使用的误差函数是弱约束关系,影响了标定结果的精确度和稳定性.由于激光点不但应该位于标定板平面上而且应该位于标定板的矩形区域内部,因此基于以上两个空间约束关系本文提出一种多约束误差函数模型.与原有的Zhang方法比较,所提方法可在更严格的可行域空间中搜索最优值,实验结果定性和定量地显示本文方法提高了标定结果的精确度和鲁棒性.
The calibration method based on the checkerboard calibration board is the mainstream method of calibration of 2-D laser radar and video camera (the most classical method is proposed by Zhang in 2004). However, the error function used by this method in optimizing the calibration parameters is a weak constraint, The accuracy and stability of the calibration results.As the laser point should not only be located on the calibration plate plane and should be located within the rectangular area of the calibration plate.Therefore, a multi-constraint error function model is proposed based on the above two space constraints. Compared with some Zhang methods, the proposed method can search the optimal value in the stricter feasible domain space. The experimental results show qualitatively and quantitatively that the proposed method improves the accuracy and robustness of the calibration results.