Sturm11 - Camera Models and Fundamental Concepts Used in Geometric Computer Vision

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RFoundationsandTrendsinComputerGraphicsandVisionVol.6,Nos.1–2(2010)1–183
c2011P.Sturm,S.Ramalingam,J.-P.Tardif,S.GaspariniandJ.BarretoDOI:10.1561/0600000023CameraModelsandFundamentalConceptsUsedinGeometricComputerVisionByPeterSturm,SrikumarRamalingam,Jean-PhilippeTardif,SimoneGaspariniandJo˜

2、aoBarretoContents1IntroductionandBackgroundMaterial31.1Introduction31.2BackgroundMaterial62Technologies82.1MovingCamerasorOpticalElements82.2Fisheyes142.3CatadioptricSystems152.4StereoandMulti-cameraSystems312.5Others333CameraModels363.1GlobalCameraModels413.2LocalCameraModels663.3DiscreteCam

3、eraModels723.4ModelsfortheDistributionofCameraRays753.5OverviewofSomeModels823.6SoManyModels...844EpipolarandMulti-viewGeometry904.1TheCalibratedCase914.2TheUncalibratedCase924.3ImagesofLinesandtheLinkbetweenPlumb-lineCalibrationandSelf-calibrationofNon-perspectiveCameras1005CalibrationApproa

4、ches1035.1CalibrationUsingCalibrationGrids1035.2UsingImagesofIndividualGeometricPrimitives1105.3Self-calibration1145.4SpecialApproachesDedicatedtoCatadioptricSystems1246Structure-from-Motion1276.1PoseEstimation1286.2MotionEstimation1306.3Triangulation1336.4BundleAdjustment1346.5Three-Dimensio

5、nalSceneModeling1366.6DistortionCorrectionandRectification1377ConcludingRemarks143Acknowledgements145References146
RFoundationsandTrendsinComputerGraphicsandVisionVol.6,Nos.1–2(2010)1–183
c2011P.Sturm,S.Ramalingam,J.-P.Tardif,S.GaspariniandJ.BarretoDOI:10.1561/0600000023CameraModelsandFundamen

6、talConceptsUsedinGeometricComputerVisionPeterSturm1,SrikumarRamalingam2,Jean-PhilippeTardif3,SimoneGasparini4,andJo˜aoBarreto51INRIAGrenoble—Rhˆone-AlpesandLaboratoireJeanKuntzmann,Grenoble,Montbonnot,France,Peter.Sturm@inrialpes.fr2MERL,Cambridge,MA,USA,ramalingam@merl.com3NREC—CarnegieMello

7、nUniversity,Pittsburgh,PA,USA,tardifj@gmail.com4INRIAGrenoble—Rhˆone-AlpesandLaboratoireJeanKuntzmann,Grenoble,Montbonnot,France,Simone.Gasparini@inrialpes.fr5CoimbraUniversity,Coimbra,Portugal,jpbar@deec.uc.ptAbstractThissurveyismainlymotiva