Camera Pose Estimation From A Stereo Setup

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1、CAMERAPOSEESTIMATIONFROMASTEREOSETUPS¶ebastienGilbertAThesissubmittedtotheFacultyofGraduateandPostdoctoralStudiesinpartialful¯llmentoftherequirementsforthedegreeofMasterofAppliedScience,ElectricalEngineeringFebruary2005Ottawa-CarletonInstituteforElectric

2、alandComputerEngineeringSchoolofInformationTechnologyandEngineeringUniversityofOttawaOttawa,Ontario,Canada°cS¶ebastienGilbert,2005ContentsListofTablesviiListofFiguresix1Introduction11.1ProblemDescription...........................31.2Contributions.......

3、........................41.3Thesisorganization............................62TheStereoscopicSetup72.1LinearPinholeCameraModel......................72.2ProjectionMatrix.............................112.3StereoscopicSetupGeometry......................142.4Es

4、sentialMatrixandFundamentalMatrix...............152.4.1EigenvaluesandRankofE....................182.4.2Eight-PointAlgorithm......................182.53DReconstruction............................202.5.1Triangulation...........................202.5.2Least-

5、SquaresSolvingfromtheProjectionMatrices......222.6Con¯gurationoftheCameras......................233StereoSetupCalibration283.1SingleCameraCalibration........................29ii3.1.1EstimationoftheProjectionMatrix..............313.1.2DecompositionofthePr

6、ojectionMatrix............333.2CalibrationofaPairofCameras.....................353.2.1TwoWaystoComputetheFundamentalMatrix........363.2.2DecompositionoftheEssentialMatrix.............373.2.3Least-SquareRe¯nementoftheIntrinsicCalibrationParameters423.2.4I

7、terativeAlgorithmforStereoSetupCalibration........453.3ExperimentalComparisonBetweenCalibrationofaPairofCamerasIndependentlyandtheIterativeAlgorithm...............463.3.1RepeatabilityoftheFundamentalMatrixandtheProjectionMatrices.........................

8、.....463.3.2RepeatabilityoftheIntrinsicCalibrationMatricesObtainedthroughIterativeRe¯nementVersusDecompositionoftheIni-tialProjectionMatrices.....................483.3.3ReprojectionErrorandReconstructionError.........493.3