中心折反射全方位摄像头的标定方法研究

提出一种适用于不同类型中心折反射全方位摄像头的标定方法。该方法不需标定模板的运动信息或限定全方位摄像头的类型,而只用通过摄像头观测分布在不同位置的标定模板,对所采集的标定模板图像提取角点,将包含内外部参数的非线性图像投影函数用泰勒级数展开表示,应用Levenberg-Marquardt算法计算摄像头外部参数,而通过对超定方程组的伪逆求解计算内部参数。整个标定过程简单,快速而且自动完成。利用某一中心折反射全方位摄像头对提出的方法进行了实验,实验结果表明,该方法可获得很好的标定效果。

Research on calibration method for central catadioptric omnidirectional camera

A method is presented for central catadioptric omnidirectional camera calibration,which is suitable to different kinds of omnidirectional camera.The proposed method only requires the omnidirectional camera to observe a calibration pattern shown at a few different positions.No a priori knowledge of the pattern motion is required,nor the limitation about the omnidirectional sensor type.In each pattern image extracting corner points,and describing the image projection function by a Taylor series are expanded which include extrinsic and intrinsic parameters of camera.Using the Levenberg-Marquart algorithm to compute the extrinsic parameters and using pseudoinverse for overdetermined equations compute the intrinsic parameters.The whole procedure of the calibration is simple,rapid and completely automatic.The method is applied to a real omnidirectional camera,Experimental results show that can get good calibration result.