相机外参数的标定.doc

本 科 毕 业 设 计 （论 文） 题 目 __________________________________ 指导教师__________________________ 辅导教师__________________________ 学生姓名__________________________ 学生学号__________________________ _______________________________院（部）____________________________专业________________班 ______年 ___月 ___日 相机外参数的估计 摘要 相机标定是摄影测量、视觉检测、计算机视觉等领域的重点研究课题之一，在测绘、工业控制、导航、军事等领域得到了极大的应用。相机标定为视觉图像的两维信息与实际三维物体世界提供了对应、转换的定量关系。本文围绕相机标定研究了Harris角点提取、相机模型与标定方法等内容。 主要包括： 1．对相机成像的理论前提和实际过程，进行了详细的介绍。在分析不同投影模型和成像关系的前提下，选用最实用的透视投影成像模型。同时，对实际成像过程中各种坐标及转换关系，进行了详细的分析和数学描述。 2．研究了图像特征点的提取问题。在角点提取过过程中，利用的是Harris角点提取算法，并对实际相片进行了角点的提取。 3．利用svd因式分解，通过相机成像时图像上的点和真实场景之间的关系，建立方程式，运用比例正交投影等最终确定出相机的外参数。 关键词：相机标定；坐标系间的转换关系；svd因式分解算法；Harris角点检测  ESTIMATE THE EXTERNAL PARAMETER OF CAMERA Abstract Camera calibration has been one of important topics for photogrammetry,vision inspeclion,computer vision and so on.It has been useful in many practical applications such as mapping,industry controlling automatic navigation and military.Camera calibration provides a quantitative description for the corresponding transformation between 2D information of the vision image and real 3D object world.. 1.Introduce detailly the theory and real procession of the camera imaging.After analyzing all projecting models and imaging relations,this thesis adopts the most applied perspective-imaging model.At the same time,the real?imaging procession and all relations about transforming coordinates are introduced. 2. Of the image feature point extraction problem. In the corner over the course of extraction, using the Harris corner detection algorithm, and the actual photos were corner extraction. 3.Use svd factorization, through the camera when the image on the imaging point and the relationship between the real scene, the establishment of equations, using orthogonal projection ratio of the final determined outside the parameters of the camera. Key words: Camera calibration;Transform relationship between the coordinate system ;svd factorization algorit