基于一维移动物体的双目装置自标定

Self-calibration of Bi-camera Setting with 1D Moving Objects

给出了平移运动的一维物体所在平面的虚圆点图像及其对摄像机内参数的约束,和约束方程的数值求解方法,从而获得摄像机的内参数.进一步通过恢复空间点在摄像机坐标系中的坐标,求解出双目摄像机之间的方位,即摄像机的外参数.对于一维物体的一般刚体运动,给出了把它转化为平移运动的方法.模拟实验和真实图像实验结果表明该方法具有较高的求解精度,同时也有一定的应用价值.

This paper presents the images of circular points of the plane on which the 1D object translates, the constraints of cireular points to camera intrinsic parameters, and the numerical solution to the constraints equations （and then we obtain the camera intrinsic parameters）. By recovering the coordinates of 3D points under camera coordinate system, we earl resolve the poses between two cameras （i. e. the camera external parameters）. For the general rigid motion of the 1D object, we give a.method to transform it into the translation case. Experimental results of both simulated data and real-world data show that this method has a high accuracy and praetical values.