内参数异构情况下摄像机平移位置的测定

孔令富, 杨广林, 张世辉, 王洁

孔令富, 杨广林, 张世辉, 王洁. 内参数异构情况下摄像机平移位置的测定[J]. 机器人, 2004, 26(3): 207-211.
引用本文: 孔令富, 杨广林, 张世辉, 王洁. 内参数异构情况下摄像机平移位置的测定[J]. 机器人, 2004, 26(3): 207-211.
KONG Ling-fu, YANG Guang-lin, ZHANG Shi-hui, WANG Jie. Finding the Position of the Camera Translation with Different Inner Parameters[J]. ROBOT, 2004, 26(3): 207-211.
Citation: KONG Ling-fu, YANG Guang-lin, ZHANG Shi-hui, WANG Jie. Finding the Position of the Camera Translation with Different Inner Parameters[J]. ROBOT, 2004, 26(3): 207-211.

内参数异构情况下摄像机平移位置的测定

详细信息
    作者简介:

    孔令富(1957- ),男,博士生导师.研究领域:智能信息处理,智能控制,计算机视觉,机器人等.
    杨广林(1963- ),男,副教授.研究领域:计算机视觉,智能控制,数据库理论.
    王洁(1979- ),女,硕士研究生.研究领域:计算机视觉.

  • 中图分类号: TP24

Finding the Position of the Camera Translation with Different Inner Parameters

  • 摘要: 在手眼系统中,摄像机平移是比较容易实现和经常需要的一种运动.本文首先给出了摄像机调整焦距后,焦距标定的两个比较简捷的方法.然后,根据平移运动中摄像机获取的两幅不同图像,在焦距不同的情况下,给出了检测摄像机坐标系平行移动的方向的方法.事实上,摄像机调整焦距也是一种平移运动,因此这时的摄像机的平移运动是两种平移运动的综合的结果,同时给出了由平台平移引起的摄像机坐标系平移位置的求解方法.
    Abstract: In the eye-in-hand systems, camera translation can be easily realized and it is a movement needed very often. In this paper, two simple methods are presented to mark the focal length after the camera focal length is adjusted. Then, a method is given to detect the direction of the camera with different focal lengths according to the two images captured before and after motion. In fact, the adjustment of camera focal length is also a translation motion, and translation of the camera at this time is the synthetic result of the two translation motions. Finally, a method is given to solve the translation position of the camera coordinate system caused only by the manipulator translation.
  • [1] 马颂德,张正友.计算机视觉——计算理论与算法基础[M].北京:科学出版社,1998.
    [2] Chou J C K, Kamel M. Finding the position and orientation of a sensor on a robot manipulator using quaternions[J]. International Jourhal of Robotics Research,1991,10(3):240-254.
    [3] Clavel R. DELTA, a fast robot with parallel geometry[A]. Proceedings of the International Symposium on Industrial Robot[C]. Switzerland:1988.91-100.
    [4] Faugeras O, Luong Q-T,Maybank S. Camera self-calibration: theory and experiments [A]. Proceedings of the European Conference on Computer Vision[C]. Berlein:1992.321-334.
    [5] Maybank S O. A theory of self-calibration of a moving camera [J].International Journal of Computer Vision,1992,8(2):123-151.
    [6] Hartley R. Euclidean reconstruction from uncalibrated views[A].Proceedings of the Second Joint European-US Workshop on Application of Invariance in Computer Vision[C]. Portugal: Springer-Verlag,1994.237-256.
    [7] Luong Q-T, Faugeras O. Self-calibration of a moving camera from a point correspondences and fundamental matrices[J]. International Journal of Computer Vision,1997,22(3):261-289.
计量
  • 文章访问数:  23
  • HTML全文浏览量:  1197
  • PDF下载量:  484
  • 被引次数: 0
出版历程
  • 收稿日期:  2003-09-12

目录

    /

    返回文章
    返回
    x 关闭 永久关闭