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列车动态包络线是评定列车安全运行的一项重要指标,基于双目立体视觉的方法是目前能够实现速度超过200km/h列车动态包络线测量的唯一方法。因受到大视场和标定时间的严格限制,便携的标定设备、易于搭建的靶标和快速的标定算法便成为标定过程需要满足的三个条件。本文提出一种新的基于双目立体视觉的大视场现场快速标定方法,设计轻型便携靶标,靶标上40个反光标记点表示铁轨坐标系,并用于计算双相机内外参数。并且,双相机仅需同时拍摄一张靶标图像,就能实现双相机内外参数快速一体化标定。实验结果表明,该方法测量精度可达±1 mm,能够满足高速列车动态包络线测量现场标定要求。
The dynamic envelope of trains is an important index to evaluate the safe operation of trains. The method based on binocular stereo vision is the only method that can realize the dynamic envelope measurement of trains exceeding 200km / h at present. Due to the large field of view and calibration time constraints, portable calibration equipment, easy to set up the target and rapid calibration algorithm has become the calibration process to meet the three conditions. In this paper, a new fast field calibration method for large field of view based on binocular stereo vision is proposed in this paper. The lightweight portable target is designed. 40 reflective points on the target represent the rail coordinate system and are used to calculate the internal and external parameters of dual cameras. And, dual cameras only need to shoot a target image at the same time, you can achieve double-camera internal and external parameters quickly integrated calibration. Experimental results show that the proposed method can measure ± 1 mm and meet the requirements of on-site calibration of dynamic envelope measurement of high-speed trains.