从5个控制点确定摄像机内参数与方位

Determining Camera Intrinsic Parameters and Pose from 5 Control Points

主要讨论摄像机在运动过程中其内参数是未知的且可以发生变化时 ,如何通过5个控制点以及它们的图像点 ,来求解所对应的内参数和方位 .证明了下述结论 :已知摄像机平移运动前、后的两幅图像间的基本矩阵 ,当 5个控制点中任意 4个点均不共面且摄像机运动前、后两光心的连线不通过任一个控制点时 ,则可线性地确定摄像机运动前。

This paper mainly discusses how to compute the intrinsic parameters and pose of the camera from 5 control points and their image points when the intrinsic parameters are unknown and variable during the motion. The following result is proved: If the fundamental matrix between two images, which are taken before and after the movement of the camera, is known, and no 4 control points among the 5 control points are coplanar, and every control point isn't on the line through the two optical centers of the camera before and after the movement, then the intrinsic parameters and pose of the camera before and after the movement can be linearly and uniquely determined.