A High Resolution Image Mosaic Method Based on Camera Calibration for Tunnel Patrol Robot System

摘要

Aiming at the problem of complicated process and limited scope in visual inspection of tunnel defects, a high resolution image mosaic method based on camera calibration for tunnel patrol robot system is proposed. Patroling on the specific track with a high resolution image mosaic module in the tunnel, the designed mobile robot greatly simplifies the defect detection process, and saves a lot of manpower and material resources by using the cylindrical image mosaic method based on fast camera calibration. Through the fast and accurate calibration process, the high resolution panoramic image of the tunnel is obtained without scene constraints, which is beneficial for subsequent comprehensive defect detection. The experimental results show that the camera calibration for high resolution image mosaic system could be done accurately and quickly with tunnel patrol robot run steadily in door and tunnel scenes, and the process of image mosaics is short in time, with high mosaics accuracy and good imaging effect, and strong robustness.