Author Affiliations
1College of Aeronautical Engineering, Civil Aviation University of China, Tianjin 300300, China2State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, China3College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, Chinashow less
Fig. 1. Flow chart of internal calibration method of linear array CCD using nonparametric model
Fig. 2. Nonparametric model of two-dimensional imaging of linear array CCD camera
Fig. 3. Camera imaging model considering edge distortion of linear array CCD camera
Fig. 4. Mapping relationship of equidistant points on parallel lines
Fig. 5. Mapping relationship of points on line parallel to optical axis
Fig. 6. Distortion calibration
Fig. 7. Schematic of experimental setup for nonparametric calibration of linear array CCD camera
Fig. 8. Spectrum of receiving signal of linear array CCD camera
Fig. 9. Distortion calculated from data of calibration points at X=10 mm
Fig. 10. Reprojection error without distortion calibration
Fig. 11. Reprojection error of internal calibration method using nonparametric model
Fig. 12. Reprojection error using distortionparametric model
v /pixel | Y /mm | v /pixel | Y /mm |
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90.96 | -75 | 1183.65 | -1 | 167.17 | -70 | 1190.98 | -0.5 | 242.72 | -65 | 1198.28 | 0 | 317.61 | -60 | 1205.78 | 0.5 | 392.14 | -55 | 1212.92 | 1 | 466.36 | -50 | 1220.19 | 1.5 | 540.08 | -45 | 1227.80 | 2 | 613.55 | -40 | 1235.07 | 2.5 | 686.96 | -35 | 1242.51 | 3 | 759.97 | -30 | 1250.00 | 3.5 | 833.03 | -25 | 1257.41 | 4 | 905.85 | -20 | 1345.87 | 10 | 979.09 | -15 | 1419.99 | 15 | 1052.04 | -10 | 1494.56 | 20 | 1139.77 | -4 | 1569.66 | 25 | 1147.00 | -3.5 | 1644.96 | 30 | 1154.33 | -3 | 1721.12 | 35 | 1161.68 | -2.5 | 1798.01 | 40 | 1168.96 | -2 | 1875.92 | 45 | 1176.35 | -1.5 | 1954.28 | 50 |
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Table 1. Data of calibration points at X=10 mm
Calibration type | RMS value /pixel | Mean value /pixel | Maximum value /pixel |
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No distortion calibration | 3.22 | -0.05 | 12.11 | Proposed method | 0.42 | 0.00 | 0.95 | Internal calibration of parametric models | 0.80 | -0.10 | 2.47 |
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Table 2. Comparison of reprojection errors