在視覺量測領域裡，誤差的分析一直是備受關注的問題。在應用上，往往受到環境的限制、影像解析度、焦距或視野大小…等因素而影響量測誤差。一般攝影機搭載在機具上進行量測時，必須先校正攝影機模型(內部參數)，再由感測器得知機具移動的相對位置與姿態，確定外部參數。但是，感測器所提供的資訊是否靠?這也許是會被質疑的地方。因此，本文探討外部參數的不確定性對機械視覺量測誤差的影響。
外部參數的不確定性因素常來自拍攝取像與感測器提供資訊的不同步或感測器本身的誤差所造成，因此本文把此不確定性轉化為定區間攝影機晃動的因子，並探討量測誤差的影響因素對系統環境擺設與誤差參數的關係。
本文經由實驗驗證，說明量測誤差影響的因素，例如基線距、量測距離和晃動方式對誤差平面有極大的關係，因此在應用上可以避免某些特定方向或晃動量限制，提升三維量測系統的準確度。
關鍵字:電腦視覺、校正

In the visual measurement field, error analysis has been a major concern. In the application, measurement systems are often subject to environmental constraints, image resolution, focal length, field size and other factors affecting the measurement error. When a camera is equipped with the machinery on measurement, we all need to calibrate camera model (intrinsic parameters). And then the information received by sensors is to know the relative location of mobile equipment and attitude to determine the external parameters. However, do the sensors provide the information reliably? This may be the point to be doubted. Therefore, this paper will have a series of analysis with single camera which discusses the external parameters to the uncertainty.
Uncertainty factors can be assumed to take photography and to provide the information which is non-synchronous by sensors, which affect errors of external parameters. Therefore, the problem can be simplified analysis of the camera shake in the fixed interval effect. Finally, we discuss the impacts between measurement error factors in space and the relationship of system architecture.
The theoretic analysis of this paper is confirmed by experiments, and it reveals the factors that affect measurement error. Therefore, we can restrict some directions of shaking to ensure the accuracy of three dimensional measurement results.
Keywords: computer vision, calibration

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