1、摄像机标定与立体视觉Camera Calibration & Stereoscopic Vision3 3/51/514 4/51/515 5/51/516 6/51/517 7/51/51 AAAABBBBRxyz,AAABBBxyz10AAAAAABBBBBBAAAAAABBBBBBxxyyzzxyyzzx1| 1 AAATBBBBARRRR8 8/51/519 9/51/51ABRBAOPcos30sin3000.8660.50sin30cos3000.50.8660001001ABR12 6 0BATOPBAABABOPR PP1010/51/51CBACBBBCBCOAABABOPR
2、 PPPR PP1111/51/51 BAABABOPR PP y z y z 1 TTTxyzPxPx 01212/51/511BAABOABRPT0110001BBAAABBOAABABORPPPPR PP1000100010001ABabTc0000001ABABRT1313/51/51CBA111CBCBBBAACOBOAABCBCABABABCBOORPRPTT TR RR PP0001414/51/511515/51/51(,)wwwxyz(,)cccxy z1616/51/511717/51/511818/51/51wcPP/cx yPP/x yu vPP1919/51/51(
3、, )( , )( )( )TTTTcccwwwu vx yx y zx y z003*3(0)= 0001xsinykkuMkv4*4=1wccwocwRPM03*4 cinwMMM02020/51/512121/51/51( )( )(,)(,)( , )TTTTTwwwcccuuddx y zx y zxyxyu v(,)(,)duxuuduyuuxxxyyyxy2222/51/51246123246123()()duuduuxxx k rk rk ryyy k rk rk r222uurxy221222122(3)(3)2duuuuduuuuxxp ypxyyyp xyp x2323/
4、51/512424/51/512525/51/512626/51/51004*43*400001100101wwxccwowcywxukuRPyzvkvz 0111213142122232431323334 cinwmmmmMMMmmmmmmmm02727/51/5111121314212223243132333411wwcwxummmmyzvmmmmzmmmm 11121314313233342122232431323334wwwwwwwwwwwwm xm ym zmm x um y um z um um xm ym zmm x vm y vm z vm v2828/51/511112111
5、1 11 11 1131111 11 11 11431323310000000011000000001wwwwwwwwwwwwwnwnwnwnnwnnwnnwnwnwnwnnwnnwnnmmxyzx uy uz umxyzx vy vz vmxyzx uy uz umxyzx vy vz vmm1341343434nnu mv mu mv m11123334 /Tmmmmm2929/51/510000001xinykuMkv1231TxTcywTzrprpMrp01141142243422433431TTTTTTmmmmMmmmmmmmm123iiiimmmm123iiiirrrr3030/5
6、1/5111410 303422420 30331TTTxxxzTTTyyyzTTzmmk ru rk pu pmmmk rv rk pv pmrp3410334203343414034240()/()/()/()/xyzxxyymukmvkpmpmmukpmmvk12rmmrmm3131/51/5111121314313233342122232431323334wwwwwwwwwwwwm xm ym zmm x um y um z um um xm ym zmm x vm y vm z vm v1112313224333410000000001wwwwwwwwwwwwmmmxyzux uy
7、uz umxyzvx vy vz vmmm3232/51/5199330C XC X2299333|(|1)RCC XC XX1111111 11 11 11111121 11 11 1243410000000011000000001wwwwwwwwwwwwwnwnwnnwnnwnnwnnwnwnwnnwnnwnnwnnxyzumx uy uz uxyzvmx vy vz vxyzumx uy uz uxyzvmx vy vz v3132330mmm3333/51/5100= 0001xsinykkuMkv22222122222212 ()() ()() duuuuuuduuuuuuxxx k
8、 xykxyyyy k xykxy3434/51/513535/51/513636/51/51(,y ,z )wiwiwix( ,v )iiu3*3 11111wwiiiwiccwowiciiinciiwiwixuuxRPyzvMzvHyz003737/51/5111iwiciiwiiuxzvH yHpTAUSV3838/51/511()()nTTiiiiiiFIIII1132 ()TiTiiiiTiiuh PIIh Pvh PiI2ii I21|niiiFII3939/51/513*4124*3 inHMrrP01TininBMM00= 0001xsinykkuMkv00101=1 0001
9、ssxxyxyxinyykk vukk kk kkMvkk4040/51/51 1221200133120002332222()sxysyxysysxyykBBk kk vk uBBk kk k uk vvBBk kk 211222222220003322211 ()1sxxyysyxyykBBkk kkk vk uvBk kk111213212223313233BBBBBBBBBB4141/51/511TininBcMM11211121212220130 xyxyysscBkB BBBkckkkvukckB1213112302112212213012131123331111()()xB BB
10、 BvB BBBv B BB BBcBBck4242/51/5112inHMrrPTRUIV123TRrrrUSV4343/51/5122222122222212 ()() ()() duuuuuuduuuuuuxxx k xykxyyyy k xykxy(,)uuxy(,)ddxy12,k k( )( )(,)(,)( , )TTTTTwwwcccuuddx y zx y zxyxyu v4444/51/512222201222222012 ( ) ()() ( ) ()() uuuuuuuuuuuuk xykxyvvvvk xykxy ( , )u v( , )u v1()TTkA AA B4545/51/5121211(,)mnijijinjjijjiFIIMR P k kpijIijIijp,jjR P4646/51/514747/51/514848/51/514949/51/515050/51/515151/51/515252/51/515353/51/51The End
