摄像机内参数自标定——理论与算法  

CAMERA SELF-CALIBRATION——THEORY AND ALGORITHMS

作　　者：吴福朝[1] 于洪川[1] 袁波[1] 韦穗 

机构地区：[1]安徽大学人工智能研究所,合肥230039

出　　处：《自动化学报》1999年第6期769-776,共8页Acta Automatica Sinica

基　　金：国家自然科学基金和"八六三"计划资助课题

摘　　要：讨论如何通过摄像机的旋转运动标定其内参数．当摄像机绕其坐标轴旋转时，运用代数方法给出了计算内参数的公式．该公式在２Ｄ投影变换接近理论值Ｐ 时是非常实用的．在摄像机绕未知轴旋转时，根据相应的２Ｄ投影变换，运用矩阵特征向量理论给出了内参数的通解公式．通过摄像机绕两个不同未知轴的旋转，摄像机内参数能被唯一地确定．这些结果为摄像机自标定算法提供了理论基础，同时也给出了实用性算法。模拟实验和真实图像实验的结果表明本文所给的算法具有一定实用价值．Camera self calibration is one of the fundamental issues in computer vision. This paper discusses the calibration of camera intrinsic parameters from the rotation of camera. When camera is rotated around its coordinate axis, the formulas of camera intrinsic parameters are obtained by the algebraic method. These formulas are very useful when 2D projective transformation is very close to the theoretic P. When rotational axis are unknown, the general solution of camera intrinsic parameters is obtained by the eigenvectors of 2D projective transformation. The camera intrinsic parameters could be uniquely determined through the method based on two different rotational axes. These results are the theoretic basis of the self calibration algorithm. Meanwhile a practical algorithm is provided. Tests with synthetic data and real images indicate that the algorithm presented in the paper is robust.

关 键 词：自标定 投影变换 摄像机 算法 计算机视觉 

分 类 号：TN948.41[电子电信—信号与信息处理] TP302.7[电子电信—信息与通信工程]