鉴于棋盘格图案在摄像机标定中有着广泛的应用,因此为了对边缘模糊的棋盘格图像进行在线标定,针

对目前棋盘格图像角点检测算法的局限性,提出了一种可以自动实现的棋盘格图像角点检测算法, 该算法是利用

周围图案对称和灰度值对比明显的独特性质,设计了由对称算子S和方差算子V组合而成的角点检测算子) )) 对

称方差算子( symmetry andvariance), 简称SV算子。该算子不仅构思巧妙、易于实现、计算量小,而且对棋盘格图像

的旋转变换和亮度变换具有鲁棒性和抗噪能力强的优点。实验结果表明, 该算子对边缘模糊有良好的适应性,适

用于摄像机的在线标定。-X-corner patterns are most widely used in camera calibration. In order to do online calibration for blurred

image, we propose a new algorithm for X-corner detection basedon the special character of X-corners: the pattern is

symmetricalandthegray contrast greatywitheachother Inthe algorithmthe operator SV isdesignedto recognizeX-corners

whichconsistsof symmetry operatorSandvarianceoperatorV. Themethodissmart, easy toexecuteandrobust to rotation,

intensity change. It isalso robust to imagenoiseandedgeblurwhere the interventionofmanisnot required. Experimental

results showthat the proposedalgorithmcanachieve excellent effects inX-cornersdetecting. inonline camera calibration.

Keywords　X-corners, corner detecting, edge blur, camera calibration, Harrisdetector