基于图像几何静矩的机器视觉基础矩阵估计.pdfVIP

学兔兔 第32卷 第8期 仪 器 仪 表 学 报 V0L 32 NO．8 2011年8月 Chinese Journal of Scientific Instrument Aug．2011 基于图像几何静矩的机器视觉基础矩阵估计木 陶兆胜 一，屠大维 (1上海大学机电工程与自动化学院 上海 200072；2安徽工业大学机械工程学院 马鞍山 243002) 摘 要：提出了一种在平移情况下通过计算图像的几何静矩求形心方式估计基础矩阵的算法。首先对通过平移方式所采集的 两幅图像进行相关的图像处理，并用形态学图像处理方法滤除残余的孤立噪声点，然后提取出标定所需的角点，并运用力学中 的几何静矩方式求出由不同数量的角点所组成的各种多边形的形心，然后用归一化的8点算法求出基础矩阵。经过大量的实 验证明该算法实现了基础矩阵的高精度的线性估计。 关键词：几何静矩；形心；8点算法；基础矩阵 中图分类号：TP391．41 文献标识码：A 国家标准学科分类代码：510．4050 Estimation of fundamental matrix based on geometrical static moment of image for machine vision application Tao Zhaosheng ，Tu Dawei ( School of Mechatronical Engineering and Automation，Shanghai University，Shanghai 200072，China； 2 School of Mechanical Engineering，Anhui University of Technology，Maanshan 243002，China) Abstract：A fundamental matrix estimation algorithm has been put forward through computing the image geometrical static moment，which is determined by calculating the polygon centroid through image translation．Three setps ate in‘ eluded．Firstly，two images acquired through translation are processed preliminarily and a morphological—based filter iS used to eliminate the residual noise points．Secondly，the comers needed for calibration are detected，and various centroids of all kinds of polygons composed of different number of corners are determined．Finally，the fundamental matrix could be calculated with normalized eight—point algorithm．Plenty of experiments show that high—precision line— arity estimation could be realized using this method． Key words：geometrical static moment；centroid；eight—point algorithm；fundamental matrix 8点算法等；非线性估计算法