SPHERE PROJECTION COMMON TANGENT LINE-BASED MULTI-CAMERA CALIBRATION AND PARAMETER OPTIMIZATION METHOD

摘要

Disclosed in the present invention are a sphere projection common tangent line-based multi-camera calibration and parameter optimization method, comprising the specific steps of: 1. obtaining the coordinates of a sphere center projection on a phase plane according to the collinear principle of an intersection point of a sphere projection common tangent line and a sphere center projection point; 2. in combination with the sphere center projection, obtaining inner and outer parameters of the camera by means of the algebraic relation between an image of the absolute quadratic curve and the projection of the sphere; 3. representing the projection of the sphere by using oval parameters, dividing the error between the projection curve and the reprojection of the projection curve into two relatively independent parts accordingly, and employing a nonlinear optimization method for gradually optimizing the deviation of the two parts to obtain a final calibration result for the camera; and 4. unifying the calibration results of the multiple cameras to the same world coordinate system by means of a matching method, thus completing the multi-camera calibration. With the method according to the present invention, the parameter geometric significance is reserved in the solution process, the calibration precision is high, and the simultaneous calibration of the multiple cameras may be simply and efficiently completed.