便携式消费级无人机相机标定有效性评估

本文针对近年来在各行业中广泛使用的便携式消费级无人机开展了相机标定有效性研究，分别通过室内标定场和后处理软件对相机进行标定和自标定，在对比无相机标定、飞前相机标定、飞后相机标定和自标定迭代校正等方法所得成图精度后，对不同相机标定方案的有效性进行了评估。结果表明：各种方案成图总体精度差别不大；飞前、飞后相机标定与无相机标定的成图精度相当；自标定迭代校正的成图精度略高于其他方案。可见采用航拍照片自标定参数迭代校正的方法更适合于飞行控制精度和成像系统稳定性都不高的便携式消费级无人机相机标定。

Effectiveness evaluation of camera calibration for portable consumer UAV

This paper has carried out a study on the effectiveness of camera calibration for portable consumer-grade drones that have been widely used in various industries in recent years. The camera is calibrated and self-calibrated through indoor calibration fields and post-processing software. After camera calibration, post-flight camera calibration, and self-calibration iterative correction methods, the effectiveness of different camera calibration schemes is evaluated. The results show that the overall accuracy of the various schemes is not much different. The accuracy of the pre-flight and post-flight camera calibration is equivalent to that of no camera calibration. The accuracy of the self-calibration iterative correction is slightly higher than other schemes. It can be seen that the iterative correction method of self-calibration parameters of aerial photos is more suitable for the calibration of portable consumer-grade UAV cameras with low flight control accuracy and imaging system stability.