A high-precision camera intrinsic parameters calibration method based on concentric circles was proposed. Different from Zhang’s method, its feature points are the centers of concentric circles. First, the collinearity of the projection of the center of concentric circles and the centers of two ellipses which are imaged from the concentric circles was proved. Subsequently, a straight line passing through the center of concentric circles was determined with four tangent lines of concentric circles. Finally, the projection of the center of concentric circles was extracted with the intersection of the straight line and the line determined by the two ellipse centers. Simulation and physical experiments are carried out to analyze the factors affecting the accuracy of circle center coordinate extraction and the results show that the accuracy of the proposed method is higher. On this basis, several key parameters of the calibration target design are determined through simulation experiments and then the calibration target is printed to calibrate a binocular system. The results show that the total reprojection error of the left camera is reduced by 17.66% and that of the right camera is reduced by 21.58% compared with those of Zhang’s method. Therefore, the proposed calibration method has higher accuracy.

提出了一种基于同心圆的高精度相机内参标定方法。与张的方法不同，它的特征点是同心圆的圆心。首先，证明了同心圆的中心投影与同心圆成像的两个椭圆的中心的共线性。随后，用四条同心圆的切线确定一条穿过同心圆中心的直线。最后，用直线与两个椭圆中心确定的直线的交点提取同心圆中心的投影。通过仿真和物理实验分析了影响圆心坐标提取精度的因素，结果表明所提方法的精度较高。在此基础上，通过仿真实验确定标定靶设计的几个关键参数，然后打印标定靶标定双目系统。结果表明，与张的方法相比，左相机的总重投影误差降低了17.66%，右相机的总重投影误差降低了21.58%。因此，所提出的校准方法具有更高的精度。通过仿真实验确定标定靶设计的几个关键参数，然后打印标定靶标定双目系统。结果表明，与张的方法相比，左相机的总重投影误差降低了17.66%，右相机的总重投影误差降低了21.58%。因此，所提出的校准方法具有更高的精度。通过仿真实验确定标定靶设计的几个关键参数，然后打印标定靶标定双目系统。结果表明，与张的方法相比，左相机的总重投影误差降低了17.66%，右相机的总重投影误差降低了21.58%。因此，所提出的校准方法具有更高的精度。