鱼眼相机矢量观测检校模型及其应用

摘要

提出了一种基于矢量观测的鱼眼相机检校新模型.该模型中的基本观测量不仅包括半视场角,而且包括方位角.在模型中引入罗德里格矩阵,采用3个罗德里格参数表示外方位元素,简化了观测方程的形式及运算.采用实测的星图数据对新模型与基于半视场角约束的检校模型进行比较,结果表明新模型在约束方位角误差方面具有明显的优势,在约束半视场角误差方面略有不足.建议在实际应用中首先采用基于半视场角约束的检校模型确定径向畸变参数,然后再采用新模型求解其他相机参数.%A fish-eye camera calibration model is presented,basic observations of which consist of both half angle of view and azimuth.Rodrigues matrix is introduced into the model,and three Rodrigues parameters instead of Euler angles are used to represent elements of exterior orientation in order to simplify the expressions and calculations of observation equations.The new model is compared with the existing models based on half angle of view constraint by actual star-map data processing,and the results indicate that the model is superior to control the azimuth error,while slightly inferior to constrain the error of half angle of view.It is advised that radial distortion parameters should be determined by the model based on half angle of view constraint at first,and other camera parameters should be calculated by the new model.