新型单摄像机立体视觉传感器研究

提出一种用于测量空间三维点坐标的单像机视觉传感器模型。在结构设计方面，变传统的双CCD摄像机结构为单CCD摄像机结构，加装两组对称的光学反射镜，镜像出一对虚拟摄像机，可在同一个CCD像面上采集到存在视差的两幅图像，从而恢复空间点的三维信息；建立了标定数学模型，阐述了此视觉传感器测量模型的标定方法。相关试验表明，此测量方案不仅有效，而且经济快速，标定方法简单，对标定环境及靶标的摆放姿态无严格要求。

STUDY ON SINGLE CAMERA STEREO VISION SENSOR

A kind of low cost single camera model used to measure coordinates in space is introduced. In structure design, the traditional double CCD camera is updated to single CCD camera. By adding two groups of symmetrical reflectors, the single camera is imaged to a pair of virtual cameras. Then two pictures of the same object with parallax can be gathered from one CCD's image surface. After that, the 3D information of dot can be retrieved. The calibration method of this vision sensor based on its 3D measuring model has also been set forth, and its mathematic model is constructed. The solution is proven by experiments not only to be available but also be economic and quick. The method of the calibration is simple with less demand for the calibration environment and the posture of target