由矩形确定摄像机内参数与位置的线性方法.pdf

1000-9825/2003/14(03)0703 ©2003 Journal of Software 软件学报 ,
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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: 86-10-62542946, E-mail: ******@.
http://nlpr-./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 puted from the
homography between the image plane and the space plane. Besides, a linear approach is also presented to retr