CAJ | 학술논문

本质矩阵描述了在摄像机内参数矩阵已知的条件下的对极几何关系,是归一化图像坐标下的基础矩阵.鉴于本质矩阵具有两相等的非零奇异值,提出了一种基于本质矩阵的自标定方法,该方法首先利用本质矩阵这个特性来构造甘标函数,考虑到传统非线性优化算法的诸多不足,最后用粒子群优化算法来求解.实验结果表明,该方法精度较高、鲁棒性较强,是一种简单而有效的自标定方法.
본질구진묘술료재섭상궤내삼수구진이지적조건하적대겁궤하관계,시귀일화도상좌표하적기출구진.감우본질구진구유량상등적비령기이치,제출료일충기우본질구진적자표정방법,해방법수선이용본질구진저개특성래구조감표함수,고필도전통비선성우화산법적제다불족,최후용입자군우화산법래구해.실험결과표명,해방법정도교고、로봉성교강,시일충간단이유효적자표정방법.
The essential matrix, which is a fundamental matrix described in the normalized image coordinate, represents the epipolar geometry relation under the condition of known camera intrinsic parameters. It is well known, two non-zero singular values of the essential matrix must be equal. Therefore, according to the intrinsic property, an essential matrix-based self-calibration approach is for proposed the first time in this paper. First, the objective function is constructed by the intrinsic property of the essential matrix. Second, the particle swarm optimization is used to solve the objective function considering the drawbacks of traditional optimization algorithms. Analytical results show that the proposed method is not only highly accurate but also robust Consequently, it is a simple but valid self-calibration method.