摘要
提出了一种求解摄像机内参数及确定摄像机位置的线性方法.首先通过空间平面上两个非平行矩形的图像来计算圆环点的图像,进而由圆环点对摄像机内参数的约束方程标定摄像机内参数,并给出了此约束方程具有惟一解的充要条件.摄像机方位是通过计算图像与空间平面间的单应矩阵来确定的.另外,还给出了在相差一个比例因子的情况下,由拉盖尔定理恢复矩形欧氏度量信息的线性方法.该方法的特点在于,无须知道矩形的任何几何信息,也不涉及图像匹配问题,而且所有计算方法均是线性的.大量的模拟和真实图像实验结果表明,所给出的方法具有求解精度高、鲁棒性强的优点.
In this paper, a linear approach is proposed to determine the camera抯 intrinsic parameters as well as its pose. At first, the images of the two circular points are derived from the images of two unparallel coplanar rectangles in space, then some linear constraints on the intrinsic parameters are established via the obtained images of the circular points. In addition, the necessary and sufficient condition of the constraint system for a unique solution is also provided. Having obtained intrinsic parameters, the camera抯 pose can be computed from the homography between the image plane and the space plane. Besides, a linear approach is also presented to retrieve the metric information (i.e., the Euclidean one up to a scale) of the rectangles by means of the Laguerre theorem. The main advantage of these approaches lie in that neither the metric information of the rectangles nor the correspondences between images are required, and the involved algorithms are all linear. Extensive simulations and experimental results with real images show that these proposed approaches are both accurate and robust.
出处
《软件学报》
EI
CSCD
北大核心
2003年第3期703-712,共10页
Journal of Software
基金
Supported by the National Natural Science Foundation of China under Grant Nos.60075004
60033010
69975021 (国家自然科学基金)
the National Grand Fundamental Research 973 Program of China under Grant No.G1998030502 (国家重点基础研究发展规划(973))
