一种优化的两步相机标定方法

H. Bacakoglu, M. Kamel
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引用次数: 14

摘要

提出了一种优化的两步摄像机标定算法。提出的方法从众所周知的线性校准开始,它将变换近似为3/spl乘以/4矩阵。基于线性定标结果和摄像机模型,构造了4/spl × /4齐次变换矩阵。利用四元数代数提取最优旋转矩阵,并将此优化推广到其他标定参数。我们的标定方法包括非线性优化,考虑了透镜畸变。通过引入另外三个目标函数,加快了非线性优化的收敛速度。为了评估我们提出的四元数方法的准确性,计算了原始和计算的齐次变换矩阵之间的误差矩阵的欧几里德范数,并与现有方法进行了比较。仿真结果表明,四元数方法在非线性优化前后均能得到更精确的结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An optimized two-step camera calibration method
An optimized two-step camera calibration algorithm is developed. The proposed method starts with the well known linear calibration which approximates the transformation as a 3/spl times/4 matrix. Based on the results of the linear calibration and the camera model we construct the 4/spl times/4 homogeneous transformation matrix. Quaternion algebra is used to extract the optimum rotation matrix and this optimization is later extended to the other calibration parameters. Our calibration method includes nonlinear optimization which takes into consideration lens distortions. The convergence rate of the nonlinear optimization is accelerated by three more objective functions we introduced. To assess the accuracy of our proposed quaternion method, Euclidean norm of the error matrix between the original and computed homogeneous transformation matrices is calculated and compared to those of the existing methods. Simulations show that the quaternion method yields more accurate results both before and after the nonlinear optimization.
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