基于运动轨迹的单目相机位姿自标定方法

Trajectory based monocular camera pose self-calibration method

为了减小轨迹图像分析中的透视效应,使用提取出的运动平面目标特征点,基于相机小孔成像模型与目标特征点运动约束,构建了一种相机位姿的自标定模型来标定相机位姿.通过标定的相机位姿,可将轨迹进行重投影,实现了将轨迹图像校正为正投影图像.实验结果表明:本标定模型使用跟踪到的运动目标进行相机标定,相机位姿的标定精度优于张正友标定法.

In order to reduce the perspective effect in trajectory analysis,using the object's motion points abstracted,a camera self-calibration model was constructed to compute the pose of the camera.Then,the trajectory was re-projected to obtain the orthographic projected trajectory which was view-invariant.Experimental results demonstrated that the proposed model is more accurate than ZHANG Zhengyou's calibration method in pose calibration.This model used the tracked moving target for camera calibration.This proposed model can be used widely in camera pose calibration and view-invariant trajectory analysis.