视觉导航系统摄像机外参数在线标定算法

摘要

提出一种简捷实用的摄像机外参数在线标定算法.该算法仅需借助一组平行的道路标识线和一组与地面垂直的平行线即可确定摄像机外参数.在已知摄像机高度的条件下,根据本标定算法即可从图像中得到目标物在现实世界坐标中的位置.实验结果证明,该方法简单方便,且无需特殊的标定设备,具有较高的应用价值.%This paper presents a simple and practical extrinsic parameter calibration algorithm for camera.The algorithm is able to determine the camera extrinsic parameters with only a set of parallel lane markings and parallel lines perpendicular to the ground plane.Then with the camera height,the positions of objects in reality can be easily obtained from the image.Experimental results show that the proposed method is simple,convenient and valuable for application without special calibration equipment.