基于广义统一模型的非单视点全向相机标定

发布时间：2019-03-20 21:44

【摘要】：折反射相机是一种低成本的大视场相机,近年来受到了广泛的关注。由于其大视场特性,折反射相机在机器人导航、视频监控、视频会议等等场景当中存在广泛的应用。折反射相机根据是否具有单一视点,可以分为单视点和非单视点折反射相机。单视点折反射相机较为理想,在现实中很难得到。由于镜面和相机位置的不准确引起失准,而导致单视点折反射相机变为非单视点折反射相机,在现实当中广泛存在。已有的单视点折反射相机模型对失准补偿能力很差。而非单视点折反射相机模型往往又过于复杂,标定和使用都不容易。因此迫切的需要一种简单易用,又精度较高的针对非单视点折反射相机的模型。本文提出了一种针对非单视点折反射相机的广义统一模型。通过在单位球模型中加入两个弥补失准的参数,广义统一模型能够很好的适应单视点折反射相机的失准,同时广义统一模型保持了单位球模型的简洁性。这使得非单视点折反射相机的标定和应用变得更为容易。基于广义统一模型,本文首先提出了标定板标定非单视点折反射相机的方法。并用仿真实验和真实实验验证了广义统一模型的有效性以及标定算法的可靠性。基于广义统一模型的前向映射、后向映射和极几何,本文进一步提出了针对广义统一模型的自标定方法。在无需人工介入的情况下,通过两幅不同位置采集得到的图,可以对广义统一模型进行自动标定。仿真实验和真实实验验证了自标定方法的精度和可靠性,同时也进一步验证广义统一模型针对非单视点折反射相机的有效性。
[Abstract]:Reflectance camera is a kind of low-cost large field-of-view camera, which has been paid more and more attention in recent years. Due to its large field of view, reflective cameras are widely used in robot navigation, video surveillance, video conferencing and other scenes. The refractor camera can be divided into single-view and non-single-view Dot Reflector cameras according to whether they have a single view or not. Single-looking Dot Reflector camera is ideal and difficult to obtain in reality. Because of the inaccuracy of the mirror and camera position, the single-view Dot Reflector camera becomes a non-single-looking Dot Reflector camera, which is widely existed in reality. The existing model of single-looking Dot Reflector has very poor ability to compensate for misalignment. However, the model of non-single-looking Dot Reflector camera is often too complex, so it is not easy to calibrate and use it. Therefore, there is an urgent need for a simple, easy-to-use, high-precision model for non-single-looking point-bending reflection cameras. In this paper, a generalized unified model for non-single-looking Dot Reflectors is presented. By adding two parameters to make up for the misalignment in the unit ball model, the generalized unified model can well adapt to the misalignment of the single-looking point-bending reflection camera, while the generalized unified model keeps the unit ball model simple. This makes the calibration and application of non-single-looking Dot Reflector camera easier. Based on the generalized unified model, this paper first presents a calibration method for non-single-looking point-bending reflection camera. The validity of the generalized unified model and the reliability of the calibration algorithm are verified by simulation and real experiments. Based on the forward mapping, backward mapping and polar geometry of the generalized unified model, a self-calibration method for the generalized unified model is proposed in this paper. Without manual intervention, the generalized unified model can be automatically calibrated by two maps collected from different positions. Simulation experiments and real experiments verify the accuracy and reliability of the self-calibration method, and further verify the effectiveness of the generalized unified model for non-single-looking point-bending reflection cameras.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB852.1;TP391.41

【共引文献】