基于八元数的立体摄像机外部参数定标方法

Calibration of Stereo Camera External Parameters Using Dual Quaternion

八元数可同时表示两摄像机坐标之间的相对平移和旋转,文中以八元数作为数学模型,提出了一种立体摄像机外部参数的定标算法,通过两摄像机的刚体运动,将运动参数矩阵进行奇异值分解可同时得到立体摄像机的外部参数;仿真结果表明,所提算法具有良好的鲁棒性。

Dual quaternion can be used to represent the relative translation and rotation between two camera coordinates. In this paper,using the dual quaternion as mathematic model,acalibration algorithm of stereo camera's external parameters is presented. The external calibration parameters of stereo camera can be obtained simultaneously by singular value decomposition of the matrix. which is composedof the motion parameters of two rigid linked cameras, the results of simulation have shown that the proposed method is very robust.