“两步法”求取双目视觉传感器中摄象机位置关系

“Two Step” Method for Binocular Sensor Self Calibration

根据平行线“消隐点”理论，提出了用于双目视觉传感器自标定的“两步法”。该方法仅需４对消隐点象面坐标便可线性求解出旋转矩阵，再用２个空间点坐标便可线性求解出平移矢量。仿真实验结果证明，该方法可以方便有效地解决双目视觉传感器两台摄象机之间位置关系的求取问题。

Based on the principle of “vanishing point” of the parallel lines,a “two step” method is proposed to perform the self calibration of the binocular sensor.The rotation matrix can be linearly acquired by using only 4 vanishing points and the translation vector can be linearly solved by using only 2 spatial point objects.The simulation results show that the “two step” method can effectively solve the problem in determination of the relative position of two cameras of the binocular sensor.