摘要
基于相机成像的针孔模型,通过建立世界坐标系、摄像机坐标系和图像坐标系之间的数学关系,理论上推导了摄像机相关参数显式的表达式,并在此基础上探究了参数与坐标的关系。通过获取实验数据验证了各参数标定结果的准确性。利用标定结果,根据图像坐标系目标图像坐标(u,v)与其对应的大地坐标值(Xw,Zw)之间的关系计算了各个目标的大地坐标,并将计算结果与GPS计算的目标坐标、参数参考值计算的坐标结果相比较,在误差允许的范围内,提出了一种双目视觉条件下的摄像机标定方法。
A mathematical relationship among world coordinate system, camera coordinate system and image coordinatesystem is established based on pinhole model of cameras. Explicit expressions of relevant camera parameters aregiven theoretically, and on this basis, the relationship between parameters and coordinates are investigated.Accuracy of the results for each parameter calibration are verified by obtaining experimental data. According tothe relationship between target coordinates （u,v） in the image coordinate system and its correspondingcoordinates in the world coordinate system, all coordinates are calculated based on the results of abovecalibration. Then these coordinates are compared with the coordinates calculated by GPS and parameterreference values respectively. Finally, a method of camera calibration is proposed based on binocular visionwithin an error permissible range.
出处
《中国民航大学学报》
CAS
2016年第3期1-5,共5页
Journal of Civil Aviation University of China
基金
国家自然科学基金项目(61179043)
关键词
双目视觉系统
针孔模型
摄像机标定
目标定位
世界坐标系
图像坐标系
binocular vision system
pinhole model
camera calibration
object positioning
world coordinate system
image coordinate system
