一种基于三正交约束的摄像机标定方法

摘要

提出一种基于三正交约束的摄像机标定方法．设定摄像机坐标系为世界坐标系，标定摄像机内参数中的5个未知量和1个投影缩放因子，设计一种由7个空间点组成的标定模板，在不需要已知标定模板线段长度的情况下，仅需要2幅以上不同姿态标定模板的图像即可根据三正交关系建立约束方程组，通过矩阵特征值分解，求得摄像机内参数的解析解．对同一个摄像机进行对比实验，本文标定结果与平面经典法标定结果的相对误差仅为1.3％左右，且仿真数据实验和真实图像实验的结果表明，该算法具有较高的标定精度和鲁棒性．%A camera calibration method based on three orthogonal constraints was presented for determining intrinsic parame-ters .Camera coordinate system was set as world coordinate system ,so only 5 camera intrinsic parameters and 1 projection scale fac-tor need to be solved .A calibration pattern containing 7 spatial points was developed which can be moved and rotated in the camer-a’s field of view .At least 2 images were captured to set up constraint equations .Thus ,camera intrinsic parameters can be solved in the closed-form solution based on matrix eigenvalue decomposition .In calibrating the same camera ,the method performed the same as the classical plane-based calibration method ,relative difference is about 1.3% .Experiments with both synthetic and real data show that our method has high accuracy and is robust .