院本文提出了一种基于圆和圆环点的线性自标定方法。该方法的平面模板要求圆内有3组两两正交的直径，从3个或多个不同的方位摄取平面圆模板的图像。根据射影几何调和共轭和交比不变的性质，求出6条直径灭点的坐标。由3组两两正交的直径和拉盖尔定理的推论解出圆环点的图像坐标。利用圆环点的性质得到关于内参数的约束方程，从而线性的求出摄像机的5个内参数。模拟和真实图像实验表明，该方法精确度较高，鲁棒性较强，有一定的实用性。%This paper proposes a method for camera linear calibration based on circle and circular points. The plane template of this method requires 3 groups pairwise orthogonal diameters in the circle to intake the images of plane circle template from 3 or more different orientations. According to conjugate harmonic and cross-ratio invariant properties in projective geometry, the vanishing points on diameters are solved. By the orthogonal relation of diameters and the corollary of Laguerre Theorem, the coordinate of circular points are solved. Using the nature of circular points to establish the constraint equations on the intrinsic parameters, and all camera intrinsic parameters are linearly solved. Experiments with simulated data as well as real images show that the new technique is robust and accurate.
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