平移初值操作的基于Kruppa方程的自标定方法

doi:10.3778/j.issn.1002-8331.2009.22.013

计算机工程与应用 ›› 2009, Vol. 45 ›› Issue (22): 38-40.DOI: 10.3778/j.issn.1002-8331.2009.22.013

平移初值操作的基于Kruppa方程的自标定方法

郝泳涛¹，周薇¹，钟波涛²

1.同济大学 CAD研究中心，上海 218104
2.华中科技大学控制系系统工程研究所，武汉 430074

收稿日期:2008-04-28 修回日期:2008-07-28 出版日期:2009-08-01 发布日期:2009-08-01
通讯作者: 郝泳涛

Self-calibration technique based on Kruppa equations obtaining initial solution by translational motion

HAO Yong-tao¹，ZHOU Weⁱ¹，ZHONG Bo-tao²

1.CAD Research Center，Tongji University，Shanghai 218104，China
2.Systems Engineering Research Institute，Huazhong University of Science and Technology，Wuhan 430074，China

Received:2008-04-28 Revised:2008-07-28 Online:2009-08-01 Published:2009-08-01
Contact: HAO Yong-tao

摘要/Abstract

摘要： 针对传统的基于Kruppa方程的摄像机自标定算法鲁棒性差的情况提出了一种新的二步式标定方法。首先对Kruppa方程进行简化，确定了经简化后的目标函数，再通过摄像机的三次线性无关的任意平移运动确定初值，然后用非线性优化目标函数法精化初值。实验结果表明，该方法可以大大提高基于Kruppa方程标定算法的鲁棒性及标定精度。

关键词: Kruppa方程, 摄像机自标定, 线性无关, 平移运动

Abstract: The key problem in self-calibration based on Kruppa equations is lack of robustness.In this paper，a two-step camera self-calibration technique is proposed.Firstly，the Kruppa equations are simplified and the target function is defined.Secondly，an initial solution is obtained by three linear independent translational motion of the camera.Then the initial solution is refined by optimizing the nonlinear target function.Extensive simulations as well as experiments with real images show the new technique can substantially improve the robustness aspect and increase the calibration accuracy.

Key words: Kruppa equation, camera self-calibration, linear independent, translational motion

郝泳涛¹，周薇¹，钟波涛². 平移初值操作的基于Kruppa方程的自标定方法[J]. 计算机工程与应用, 2009, 45(22): 38-40.

HAO Yong-tao¹，ZHOU Weⁱ¹，ZHONG Bo-tao². Self-calibration technique based on Kruppa equations obtaining initial solution by translational motion[J]. Computer Engineering and Applications, 2009, 45(22): 38-40.

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平移初值操作的基于Kruppa方程的自标定方法

Self-calibration technique based on Kruppa equations obtaining initial solution by translational motion

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