| 线性确定无穷远平面的单应矩阵和摄象机自标定 |
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| 引用本文： | 吴福朝,胡占义.线性确定无穷远平面的单应矩阵和摄象机自标定[J].自动化学报,2002,28(4):488-496. |
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| 作者姓名： | 吴福朝 胡占义 |
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| 作者单位： | 1.中国科学院自动化研究所模式识别国家重点实验室,北京 |
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| 基金项目： | 国家自然科学基金 ( 6 0 0 750 0 4 ,6 0 0 330 10 )，“973”计划 ( G19980 30 50 2 )，中国科学院机器人学开放研究实验室项目 ( RL2 0 0 0 10 )资助 |
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| 摘 要： | 引入了一种新的对无穷远平面的单应性矩阵(The infinite homography)的约束方程并
据此提出了一种新的摄象机线性自标定算法.与文献中已有的方法相比,该方法对摄象机的运
动要求不苛刻(如不要求摄象机的运动为正交运动),只须摄象机作一次平移运动和两次任意刚
体运动,就可线性唯一确定内参数.该方法主要优点在于:在确定无穷远平面的单应性矩阵的过
程中,不需要射影重构,也不需要有限远平面信息,唯一所需要的信息是图象极点,从而简化了
文献中现有的算法.另外同时给出了由极点确定(运动组)关于无穷远平面单应性矩阵的充分必
要条件.模拟实验和实际图象实验验证了该方法的正确性和可行性.
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| 关 键 词： | 摄象机自标定 极点 无穷远平面的单应性矩阵 |
| 收稿时间： | 2000-3-9 |
| 修稿时间： | 2000年3月9日 |
LINEAR DETERMINATION OF THE INFINITE HOMOGRAPHY AND CAMERA SELF-CALIBRATION |
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| WU Fu-Chao,HU Zhan-Yi.LINEAR DETERMINATION OF THE INFINITE HOMOGRAPHY AND CAMERA SELF-CALIBRATION[J].Acta Automatica Sinica,2002,28(4):488-496. |
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| Authors: | WU Fu-Chao HU Zhan-Yi |
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| Affiliation: | 1.National Laboratory of Pattern Recognition(NLPR),Institute of Automation Chinese Academy of Sciences,Beijing |
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| Abstract: | In this paper, a new constraint on the homography of the plane at infinity is introduced and a new linear camera calibration technique is proposed based on it. Compared with the related techniques in the literature, the main advantages of our new technique are tow-fold. Firstly, it is less stringent to hardware, for example, it does not require the camera to undertake orthogonal motions which are usually difficult to be done without special hardware support. In contrast, our technique requires only one translation, and two general motions of camera, which can be easily done, for example, with a hand-held camera. Secondly, in the determination of the homography of the plane at infinity, it relies neither on projective reconstruction nor on the homography of a space plane, it needs only some image correspondences and epipoles, which are basic requirements for any camera self-calibration technique. In addition, we prove that for a given set of camera motions such as {(R,t1),(R,t2)},if (t1,t2) are not linearly dependent, then the homography of the plane at infinity under this motion set can be linearly and uniquely determined. Simulations and experiments with real images validate our new method. |
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| Keywords: | Camera self-calibration epipole homography of the plane at infinity |
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