Estimation of the Scene Structure and Camera Movements from the Sequence of Images with the Common Target Point under Long-Focus Approximation

摘要

In this paper, we propose and examine the method for the estimation of a spatial object structure from the sequence of images obtained from a moving, partially calibrated, camera. The problem of this kind appears during the relief reconstruction from a sequence of terrain images obtained by an artificial satellite. It is assumed that the optical axis of the recording camera is always directed at the same target point in space, and that there are only two unknown parameters: the current rotation angle of the camera around its optical axis and the displacement of coordinate origin of the image plane relative to the camera optical axis. We present the algorithm for the reconstruction of three-dimensional coordinates of points on the observed surface by using the measured sequence of their projections in the focal plane of the moving camera.