视觉基础矩阵的统一表示

AN UNIFORM EXPRESSION OF THE FUNDAMENTAL MATRIX

通用的基础矩阵表示形式为Ｆ＝ＫＴ［ｔ］×ＲＫ－１，其中：Ｋ为摄像机内参数阵，Ｒ，ｔ分别为摄像机的旋转矩阵与平移矢量．纯旋转运动所对应的基础矩阵并不包含在此表达式之中．文中给出一种新的基础矩阵表达式：Ｆ＝［ｅ′］×ＫＲＫ－１，其中ｅ′是极点．这个表达式统一了纯旋转的情形．更重要的是在末标定的情况下，由此表达式可使求解摄像机内参数、运动参数等问题得到简化．

The fundamental matrix's expression is usually F=K -T ×RK -1 , where K is the intrinsic parameters matrix of camera,and R and t is the rotation matrix and the translation vector of camera respectively. The expression is not valid when using the pure rotation. In the paper here, a new expression of the fundamental matrix , F= ×KRK -1 , is presented, where e′ is epipolar point.Net only the expression is valid when using the pure rotation, but also it predigestes the following problems, such as, the intrinsic parameters matrix, the motion parameters, and structure recovery from uncalibrated stereo rig.