由矩形确定摄像机内参数与位置的线性方法-CiteSeer.PDFVIP

1000-9825/2003/14(03)0703 ©2003 Journal of Software 软 件 学 报 Vol.14, No.3 ∗ 由矩形确定摄像机内参数与位置的线性方法 + 吴福朝, 王光辉 , 胡占义 ( 中国科学院 自动化研究所 模式识别国家重点实验室,北京 100080) A Linear Approach for Determining Intrinsic Parameters and Pose of Cameras from Rectangles + WU Fu-Chao, WANG Guang-Hui , HU Zhan-Yi (National Laboratory of Pattern Recognition, Institute of Automation, The Chinese Academy of Sciences, Beijing 100080, China) + Corresponding author: Phn: 86-10 E-mail: ghwang@ /english/rv Received 2001-11-30; Accepted 2002-02-27 Wu FC, Wang GH, Hu ZY. A linear approach for determining intrinsic parameters and pose of cameras from rectangles. Journal of Software, 2003,14(3):703~712. Abstract: In this paper, a linear approach is proposed to determine the camera’s intrinsic parameters as well as its pose. At first, the images of the two circular points are derived from the images of two unparallel coplanar rectangles in space, then some linear constraints on the intrinsic parameters are established via the obtained images of the circular points. In addition, the necessary and sufficient condition of the constraint system for a unique solution is also provided. Having obtained intrinsic parameters, the camera ’s pose can be computed from the homography between the image plane and the space plane. Besides, a linear approach is also presented to retrieve the metric information (i.e., the Euclidean one up to a scale) of the rectangles by means of the Laguerre theorem. The main advantage of these approaches lie in that