几何法在双目立体视觉中的应用

Geometrical method applied in binocular stereo vision

本文提出了一种双目立体视觉的几何解法,通过分别获取场景中某物体在左右摄像机中投影点的实际像素坐标,利用标定得到的摄像机内参数,求得投影点的理想图像坐标。然后利用摄像机外参数,可获得经过摄像机的光心与投影点两点的射线的方向矢量,找到这左右两条异面射线的公垂线的中点,即为场景中某物体点。

This paper put forward a geometrical method of binocular stereo vision.It computer ideal image coordinates of projection points using intrinsic parameters of cameras that is calibration and actual pixels coordinates of projection points in left and right cameras. then, you can find the center point of common vertical line between left ray and right ray that connects optical center of camera and projection point. The center point of common vertical line is the actual postion of object in world that we want.