相機外參數的標定

本 科 畢 業 設 計 (論 文)

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相機外參數的估計

摘要

相機標定是攝影測量、視覺檢測、計算機視覺等領域的重點研究課題之一，在測繪、工業控制、導航、軍事等領域得到了極大的應用。相機標定為視覺圖像的兩維信息與實際三維物體世界提供了對應、轉換的定量關系。本文圍繞相機標定研究了Harris角點提取、相機模型與標定方法等內容。

主要包括：

1．對相機成像的理論前提和實際過程，進行了詳細的介紹。在分析不同投影模型和成像關系的前提下，選用最實用的透視投影成像模型。同時，對實際成像過程中各種坐標及轉換關系，進行了詳細的分析和數學描述。

2．研究了圖像特征點的提取問題。在角點提取過過程中，利用的是Harris角點提取算法，并對實際相片進行了角點的提取。

3．利用svd因式分解，通過相機成像時圖像上的點和真實場景之間的關系，建立方程式，運用比例正交投影等最終確定出相機的外參數。

關鍵詞：相機標定；坐標系間的轉換關系；svd因式分解算法；Harris角點檢測

ESTIMATE THE EXTERNAL PARAMETER OF CAMERA

Abstract

Camera calibration has been one of important topics for photogrammetry,vision inspeclion,computer vision and so on.It has been useful in many practical applications such as mapping,industry controlling automatic navigation and military.Camera calibration provides a quantitative description for the corresponding transformation between 2D information of the vision image and real 3D object world..

1.Introduce detailly the theory and real procession of the camera imaging.After analyzing all projecting models and imaging relations,this thesis adopts the most applied perspective-imaging model.At the same time,the real?imaging procession and all relations about transforming coordinates are introduced.

2. Of the image feature point extraction problem. In the corner over the course of extraction, using the Harris corner detection algorithm, and the actual photos were corner extraction.

3.Use svd factorization, through the camera when the image on the imaging point and the relationship between the real scene, the establishment of equations, using orthogonal projection ratio of the final determined outside the parameters of the camera.

Key words: Camera calibration;Transform relationship between the coordinate system ;svd factorization algorit

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