一种通用的共轴全向立体系统极线校正方法  

A Generalized Rectification Algorithm for Co-Axis Omni-Directional Stereo System

作　　者：雷杰[1,2] 杜歆[1,2] 刘济林[1,2] 

机构地区：[1]浙江大学信息与通信工程研究所,浙江杭州310027 [2]浙江省综合信息网技术重点实验室,浙江杭州310027

出　　处：《光学学报》2010年第7期1984-1988,共5页Acta Optica Sinica

基　　金：国家自然科学基金重点项目(60534070);国家自然科学基金重大计划(90820306)资助课题

摘　　要：对于全向立体视觉的三维环境测量系统,一般假设全向相机的光轴重合,即共轴立体。它具有径向上线性的对极几何关系,简化了立体匹配的搜索问题。但是在实际中,不可避免存在光轴之间的未对齐误差,从而降低了测量精度。为了补偿这种对齐误差,提出一种通用的共轴配置全向立体系统校正方法。推导并计算了泰勒模型下任意配置全向立体系统的本质矩阵。利用极曲线与其切空间的一一对应关系,将相机姿态校正到中心连线方向上,使得对应点被约束在径向直线上。图像重采样则保证图像对应点位于同一列上。算法只在图像平面上进行。最后的模拟和实验数据表明算法的有效性。For an omni-directional stereo vision system,two omni-cameras are assumed to have a common optical axes,i.e.co-axis stereo.The epipolar geometry of the ideal configuration is linear along radial direction,which simplifies correspondence search.However,it is often violated in practice due to misalignment between optical axes,which reduces the measurement accuracy.In order to compensate this misalignment,a generalized rectification algorithm for omni-directional stereo system is proposed.The essential matrix is derived and computed for an arbitrary omni-directional stereo configuration based on Taylor model.Using the one-to-one corresponding relationship between epipolar curve and its tangential space,the system is rectified to the direction of the line connecting two cameras′ centers.The corresponding points are constraint to the radial line,and image-resample makes them lie on the same scan column.The proposed algorithm is only performed on image plane.Finally,simulation and experimental results illustrate the effectiveness of the algorithm.

关 键 词：图像处理 极线校正 对极几何 全向立体视觉 

分 类 号：TP317.4[自动化与计算机技术—计算机软件与理论] TP391[自动化与计算机技术—计算机科学与技术]