摄像机径向畸变校正及内参估计的单图标定方法.pdf

第 39 卷第 9 期 光电工程 Vol.39, No.9 2012 年 9 月 Opto-Electronic Engineering Sept, 2012 文章编号：1003-501X(2012)09-0125-07 摄像机径向畸变校正和 内参估计的单图标定方法 朱云芳 ( 浙江工商大学 计算机与信息工程学院，杭州 310018 ) 摘要：提出了一种对摄像机的径向畸变进行校正和内参数估计的单图标定方法。拍摄一幅平面标定模板图像，提 出若干条直线，拟合在单参数除法畸变模型下的圆弧参数，从而估计出径向畸变。对径向畸变进行校正后，利用 标定模板点与经过校正后的图像点之间的对应关系，估计出单应性矩阵。在假定摄像机主点与畸变中心重合的条 件下，线性地计算出摄像机焦距初值。以上述线性方法得到的结果为初值，进行非线性优化，最终得到准确的摄 像机参数。超广角鱼眼相机和普通数码相机的实验结果表明，本文提出的算法实现简单、适用性广，结果准确， 具有较强的实用性。 关键词：摄像机标定；除法模型；鱼眼相机；径向畸变 中图分类号：TP391.7 文献标志码：A doi：10.3969/j.issn.1003-501X.2012.09.020 Calibration of Radial Distortion and Intrinsic Parameters Using a Single Image ZHU Yun-fang ( College of Computer and Information Engineering, Zhejiang Gongshang University, Hangzhou 310018, China ) Abstract: A method of calibrating radial distortion and intrinsic parameters based on a single template image is proposed. The method based on the constraint that straight lines in the 3D world are imaging as circular arcs in the image plane under the single parameter division model. With the input temple image, the straight lines in the template and the corresponding circular arcs in the distorted image are first identified and estimated. Then the single distortion parameter and the center of distortion are estimated based on the parameters of circular arcs. After the image is undistorted, the homography matrix is calculated and the focal length is linearly estimated. These initial estimations are refined by