线性确定无穷远平面的单应矩阵和摄象机自标定  

LINEAR DETERMINATION OF THE INFINITE HOMOGRAPHY AND CAMERA SELF-CALIBRATION

作　　者：吴福朝[1] 胡占义[1] 

机构地区：[1]中国科学院自动化研究所模式识别国家重点实验室,北京100080

出　　处：《自动化学报》2002年第4期488-496,共9页Acta Automatica Sinica

基　　金：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

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 .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.

关 键 词：摄象机自标定 极点 无穷远平面 单应性矩阵 计算机视觉 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]