Camera Calibration Using Line基于线的摄像机标定

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1、CameraCalibrationUsingLineCorrespondences
RichardI.HartleyG.E.CRD,Schenectady,NY,12301.Ph:(518)-387-7333Fax:(518)-387-6845Email:hartley@crd.ge.comAbstractInthispaper,amethodofdeterminingtheessentialmatrixforuncalibratedcamerasisgiven,basedonlinematchesi

2、nthreeimages.Thethreecamerasmayhavedifferentunknowncalibrations,andtheessentialmatricescorrespondingtoeachofthethreepairsofcamerasmaybedetermined.Determinationoftheessentialmatrixforuncalibratedcamerasisimportant,formingthebasisformanyalgorithmssuchascom

3、putationofinvariantsimagerectification,cameracalibrationandscenereconstruction.Inthecasewhereallthethreecamerasareassumedtohavethesameunknowncalibration,themethodofFaugerasandMaybank([3,4])maybeusedtocali-bratethecamera.Thescenemaythenbereconstructedexac

4、tly(uptoascaledEuclideantransformation).ThisextendspreviousresultsofWeng,HuangandAhuja([12])whogaveamethodforscenereconstructionfrom13linecorrespon-dencesusingacalibratedcamera.Thepresentpapershowsthatthethecameramaybecalibratedatthesametimethatthescene

5、geometryisdetermined.
TheresearchdescribedinthispaperhasbeensupportedbyDARPAContract#MDA972-91-C-00531IntroductionAtraditionalapproachtoanalysisofperspectiveimagesinthefieldofComputerVisionhasbeentoattempttomeasureandmodelthecamerathattooktheimage.Alarge

6、bodyofliteraturehasgrownupseekingtocalibratethecameraanddetermineitsparametersasapreliminarysteptoimageunderstanding.Thepapers[1]and[14]representtwoofthelatestapproachestocameracalibration.Arecentview([2])isthatcameracalibrationisnotdesirableornecessary

7、inmanyimageunderstandingsituations.Manyauthorshavebeenledtoconsideruncalibratedcameras.Thestudyofprojectiveinvariants([11])isanexampleofagrowingfieldbasedonthephilosophyofavoidingcameracalibration.Infact,studyofuncalibratedcamerasisintimatelylinkedwithth

8、estudyofprojectiveinvariants,foraresultofFaugeras([2]),Hartleyet.al.([6])andMohrshowsthatundermostconditionsascenecanbedetermineduptoaprojectivetransformofprojective3-spaceP3byapairofimagestakenbyuncalibratedcameras.Centraltothes