榫欐簮鏈熷垔缃?/p>
http://www.qikan.com.cn
鍩轰簬
Matlab
骞冲彴鐨勭浉鏈烘爣瀹氱爺绌?/p>
浣滆�咃細鏉庢槑褰?/p>
閮僵
浜庢瘏
鏉ユ簮锛氥�婃暟瀛楁妧鏈笌搴旂敤銆?/p>
2018
骞寸
02
鏈?/p>
鎽樿锛氱浉鏈烘爣瀹氭槸璁＄畻鏈鸿瑙夐鍩熺殑鍏抽敭鎶�鏈箣涓�銆傛湰鏂囦粙缁嶄簡鎽勫儚鏈烘垚鍍忓師鐞嗭紝鏄庣‘鍏?/p>
鍐呭鍙傛暟鐨勫惈涔夛紝閫夋嫨鍩轰簬
Matlab
鐨?/p>
Camera Calibration
宸ュ叿绠卞拰
Camera Calibrator
绋嬪簭瀹炶返
浜嗗熀浜庡钩闈㈡澘鏍囧畾鐨勭浉鏈烘爣瀹氭柟娉曪紝缁欏嚭浜嗗垎缁勫疄楠岀粨鏋滐紝瀵规瘮浜嗕袱绉嶅伐鍏峰湪鎿嶄綔銆佽繍琛屽拰绮?/p>
搴︽柟闈㈢殑鐗圭偣銆?/p>
鍏抽敭璇嶏細
Matlab
锛涙憚鍍忔満鏍囧畾锛涘钩闈㈡澘鏍囧畾
涓浘鍒嗙被鍙凤細
TP391
鏂囩尞鏍囪瘑鐮侊細
A
鏂囩珷缂栧彿锛?/p>
1007-9416
锛?/p>
2018
锛?/p>
02-0085-01
鎽勫儚鏈烘爣瀹氭槸瑙嗚鎶�鏈殑鍩虹锛屾牳蹇冩槸寤虹珛鏍囪鐐逛笁缁村潗鏍囧拰鍥惧儚瀵瑰簲浜岀淮鍧愭爣鐨勫叧绯绘ā
鍨嬨�傛湰鏂囦粠鎽勭浉鏈烘爣瀹氬師鐞嗗嚭鍙戯紝鏄庣‘鏍囧畾涓渶閲嶈鐨勭煩闃靛彉鎹㈠拰鐩告満鍙傛暟
[1]
锛岄噰鐢ㄦ鐩樻牸
骞抽潰鏍囧畾娉曡繘琛屾爣瀹氾紝鍒嗗埆鍒╃敤
Matlab
鐨?/p>
Camera Calibration
宸ュ叿绠卞拰
Camera Calibrator
绋嬪簭
瀹為獙锛屽緱鍑烘爣瀹氱粨鏋滃苟杩涜瀵规瘮鍒嗘瀽銆?/p>
1
鎽勫儚鏈虹殑鏍囧畾鍘熺悊
鐩墠鏈�甯哥敤鐨勬憚鍍忔満鎴愬儚妯″瀷鏄皬瀛旀憚鍍忔満妯″瀷锛岀郴缁熶腑寤虹珛涓栫晫鍧愭爣绯伙紙
Xw
锛?/p>
Yw
锛?/p>
Zw
锛夈�佹憚鍍忔満鍧愭爣绯伙紙
Xc
锛?/p>
Yc
锛?/p>
Zc
锛夈�佸浘鍍忓潗鏍囩郴锛?/p>
u
锛?/p>
v
锛夊拰鎴愬儚鍧愭爣绯伙紙
x
锛?/p>
y
锛夊洓涓潗鏍?/p>
绯?/p>
[1-2]
銆備笘鐣屽潗鏍囷紙
Xw
锛?/p>
Yw
锛?/p>
Zw
锛夌粡骞崇Щ鍜屾棆杞緱鍒版憚鍍忔満鍧愭爣锛涙憚鍍忔満鍧愭爣鐐?/p>
P
锛?/p>
Xc
锛?/p>
Yc
锛?/p>
Zc
锛夌粡閫忚鎶曞奖鍙樻崲鍙緱鎴愬儚骞抽潰鐐?/p>
p
锛?/p>
x
锛?/p>
y
锛夛紱鎴愬儚骞抽潰鍒板浘鍍忓钩闈㈠潗鏍囧垯鏄鏁ｅ寲鍜?/p>
骞崇Щ鐨勭粨鏋滐紝鎴愬儚绌洪棿鍘熺偣
Oxy
鍦ㄥ浘鍍忓钩闈㈢殑鍧愭爣涓猴紙
u0
锛?/p>
v0
锛夛紝
x
杞村拰
y
杞存柟鍚戞寜鐓ч暱搴︿负
dx
锛?/p>
dy
涓哄崟浣嶉暱搴﹁繘琛岀鏁ｅ寲锛屽姝ゅ鍑哄浘鍍忓潗鏍囩郴鍙嶆眰涓栫晫鍧愭爣鐨勫叕寮?/p>
[1-2]
锛?/p>
鍏朵腑
R
涓烘浜ゆ棆杞煩闃碉紝鐢变笘鐣屽拰鎽勫儚鏈哄潗鏍囩郴鐨勮酱闂存棆杞す瑙掑喅瀹氾紝
T
涓哄钩绉荤煩闃碉紱
f
涓洪�忚鎶曞奖鍙樻崲涓憚鍍忔満鍏夊績鍒扮墿鐞嗘垚鍍忓钩闈㈢殑璺濈锛?/p>
dx
锛?/p>
dy
涓虹鏁ｅ寲鍗曚綅闀垮害锛岋紙
u0
锛?/p>
v0
锛変负鐗╃悊鎴愬儚绌洪棿鍘熺偣
Oxy
鍦ㄥ浘鍍忓钩闈㈢殑鍧愭爣銆傚彉鎹㈢粍鎴愮郴鏁扮煩闃?/p>
M1M2
锛?/p>
M1
涓烘憚鍍忔満鍐?/p>
閮ㄥ弬鏁板浐瀹氫笉鍙橈紝瀹氭爣灏辨槸姹?/p>
M1
锛屽嵆鐒﹁窛
fx
鍜?/p>
fy
銆佸厜蹇?/p>
cx
鍜?/p>
cy
銆佺暩鍙樼郴鏁?/p>
k1
锛?/p>
k2
锛?/p>
k3
锛?/p>
p1
锛?/p>
p2
銆?/p>
5
涓暩鍙樼郴鏁版潵鑷暩鍙樻ā鍨嬶紝鍙煫姝ｅ洜闀滃ご鐒﹁窛瀹氫綅涓嶅綋鎴栬川閲忛棶棰樿嚧浣挎ā鍨嬩骇鐢熺殑
閫忛暅鐣稿彉锛堝緞鍚戠暩鍙樺拰鍒囧悜鐣稿彉妯″瀷锛?/p>
[1-2]
锛屾牴鎹爣瀹氱簿搴﹁姹傚彲閫夋嫨姹傝В鐣稿彉鍙傛暟銆?/p>
2
瀹為獙杩囩▼鍜岀粨鏋?/p>
鍩轰簬
Matlab
鐨勭浉鏈烘爣瀹氬伐鍏凤紝甯哥敤
Jean-Yves Bouguet
寮�鍙戠殑
Camera Calibration Toolbox
鍜?/p>
2014a
鐗堝悗鏀寔鐨?/p>
Camera Calibreator
锛屼笅鏂囩О宸ュ叿
1
鍜屽伐鍏?/p>
2
锛屼簩鑰呭潎浠ュ紶姘忓钩闈㈡爣瀹氭硶涓?