CAJ | 학술논문

合理选择摄像机模型是摄像机标定的首要任务, 而传统的模型选择方法主要采用单一的重建精度指标来评判模型的合理性, 存在明显的局限性. 针对摄像机模型的比较和选择问题, 分析和定义了模型的重建精度与泛化性能、模型估计的稳定性和标定参数的不确定性 3 个性能指标. 重建精度与泛化性能指标不仅度量了模型对标定控制点范围内数据的重建误差大小, 而且还反映了模型对于控制点范围之外数据的适应程度; 稳定性指标描述了标定结果对于标定数据空间分布的依赖程度; 不确定性指标则反映了标定结果的偶然性. 这3个指标具有一定的互补性, 且稳定性和不确定性指标无需进行重建, 可以直接通过标定结果进行评判. 最后以3个不同特点的摄像机及8种不同类型的畸变模型为例, 通过实验验证了3个指标的合理性和可行性, 为合理选择摄像机模型提供了一种有效途径.
합리선택섭상궤모형시섭상궤표정적수요임무, 이전통적모형선택방법주요채용단일적중건정도지표래평판모형적합이성, 존재명현적국한성. 침대섭상궤모형적비교화선택문제, 분석화정의료모형적중건정도여범화성능、모형고계적은정성화표정삼수적불학정성 3 개성능지표. 중건정도여범화성능지표불부도량료모형대표정공제점범위내수거적중건오차대소, 이차환반영료모형대우공제점범위지외수거적괄응정도; 은정성지표묘술료표정결과대우표정수거공간분포적의뢰정도; 불학정성지표칙반영료표정결과적우연성. 저3개지표구유일정적호보성, 차은정성화불학정성지표무수진행중건, 가이직접통과표정결과진행평판. 최후이3개불동특점적섭상궤급8충불동류형적기변모형위례, 통과실험험증료3개지표적합이성화가행성, 위합리선택섭상궤모형제공료일충유효도경.
The first step in camera calibration is to make a right choice of the camera model. Traditional ways of the model selection share an obvious limitation by mainly relying on a single evaluation measure, i.e. the reconstruction precision, to estimate a model's soundness. In this paper, aiming at the comparison and selection of different cameral models, we define and analyze three evaluation measures. The first one is the 3D reconstruction precision and generalization capability, measuring not only the reconstruction error for calibrated points but also the adaptability on points deviated from the calibrated ones; the second one is the stability, describing the extent to which the calibration result depends on the spatial distribution of the points; the third one is the uncertainty which reflects the randomness of one trial of calibration. These three meas-ures are mutually complementary, and the stability and uncertainty can be directly estimated through the calibration result without reconstruction. Finally, intensive experiments on three cameras with eight distor-tion models are conducted to verify the validity and feasibility of three proposed evaluation measures, which offers a helpful guidance for the selection of camera models.