High-Speed Camera Calibration Method Based on Airborne Identification Target

Parameter	Tsai	identification targets
u₀/pixel	639.68	640.27
v₀/pixel	399.89	399.67
f/mm	132.43	136.12
s_x	1.0055	0.9966
k₁	-0.0002187	-0.0003443
R	$[\begin{array}{r} - 0.8240 & - 0.0079 & 0.5665 \\ 0.0166 & - 0.9994 & 0.0289 \\ 0.5660 & 0.0332 & 0.8237 \end{array}]$	$[\begin{array}{r} - 0.8273 & 0.0006 & 0.5617 \\ 0.0151 & - 0.9994 & 0.0307 \\ 0.5614 & 0.0339 & 0.8268 \end{array}]$
T/m	$[\begin{array}{r} - 4.2561 \\ - 2.9849 \\ 62.5149 \end{array}]$	$[\begin{array}{r} - 4.2194 \\ - 3.0224 \\ 63.8206 \end{array}]$

Table 2. Reprojection error of two step calibration by Tsai
View table
Table 2. Reprojection error of two step calibration by Tsai
No. ΔX /pixel ΔY /pixel ΔR /pixel
mean 0.63 0.72 0.99
B1 0.78 0.12 0.79
B2 0.48 0.29 0.56
B3 0.18 0.16 0.24
B4 1.19 1.72 2.10
B6 0.75 0.55 0.93
B7 0.78 1.07 1.32
B11 0.96 1.24 1.56

Table 3. Reprojection error of calibration by identification targets
View table
Table 3. Reprojection error of calibration by identification targets
No. ΔX /pixel ΔY /pixel ΔR /pixel
mean 0.26 0.29 0.43
1 0.12 0.10 0.16
2 0.01 0.08 0.09
3 0.45 0.13 0.47
︙ ︙ ︙ ︙
63 0.33 0.38 0.50
64 0.46 0.09 0.47
65 0.02 0.24 0.24
66 0.04 0.30 0.31

Table 4. Intersection error

View table

Table 4. Intersection error

No.	Two step calibration by Tsai				Trajectory of identification lamp
No.	Δx /cm	Δy /cm	Δz /cm	ΔR /cm	Δx /cm	Δy /cm	Δz /cm	ΔR /cm
mean	1.2	2.4	1.3	3.0	0.7	2.2	0.7	2.5
A1	1.8	1.8	1.7	3.1	1.6	1.9	0.8	2.6
A2	1.6	2.3	1.6	3.2	1.2	1.8	1.3	2.5
A3	1.1	1.9	2.2	3.1	0.3	2.5	0.2	2.5
A4	1.6	2.6	1.1	3.2	1.4	2.5	0.8	3.0
A5	0.8	2.7	1.2	3.1	0.2	2.7	0.9	2.9
A6	0.9	2.1	1.2	2.6	0.3	1.9	1.1	2.2
A7	1.1	2.6	1.6	3.2	1.0	2.6	0.1	2.8
A8	1.7	2.5	0.6	3.1	0.5	1.8	0.1	1.9
A9	0.7	2.9	0.4	3.0	0.1	2.7	0.1	2.7
A10	0.6	2.2	1.1	2.5	0.7	2.2	0.6	2.4
A11	1.2	2.5	1.6	3.2	0.8	1.5	1.6	2.3

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Zeqing Liu, Yong Xu, Bojun Du, Yalin Wang. High-Speed Camera Calibration Method Based on Airborne Identification Target[J]. Laser & Optoelectronics Progress, 2023, 60(14): 1428007

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