Camera Calibration Using 2D-DLT and Bundle Adjustment with Planar Scenes
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摘要: 利用共线方程和二维DLT之间的对应关系导出了由二维DLT的8个参数表达的主纵线方程式,讨论了主点初值的求解方法,给出了单张像片摄像机参数分解不惟一性及临界序列的证明。详细推导了利用二维DLT参数分解摄像机外方位元素初值的实用算法,论述了利用光束法平差进行摄像机标定的数学模型。实际图像数据实验取得了很好的结果,验证了本文所提出的摄像机标定算法的可行性。Abstract: A flexible camera calibration technique using 2D-DLT and bundle adjustment with planar scenes is proposed in this paper. The equation of principal vertical line under image coordinate system represented by 2D-DLT parameters is worked out using the correspondence between collinearity equations and 2D-DLT. Proof of ambiguities in camera parameter decomposition with 2D-DLT parameters is given. Initial value of principal point can be obtained with at least two equations of principal vertical lines. Proof of critical motion sequences(CMS) is also given in detail. The practical decomposition algorithm of extrinsic parameters using initial values of principal point, focal length and 2D-DLT parameters is discussed elaborately. Planar-scene camera calibration algorithm with bundle adjustment(using collinearity equations) is addressed. For the proposed technique, either the camera or the planar pattern can be moved freely, and the motion need not be known. Very good results have been obtained with both computer simulations and real data calibration.
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Keywords:
- 2D-DLT /
- bundle adjustment /
- collinearity equations /
- planar grid /
- camera calibration
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