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关于摄像机校准的理论知识,国外课件,详细,不错
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Camera Calibration
What is Camera Calibration?
• Primarily, finding the quantities internal to
the camera that affect the imaging process
§ Position of image center in the image
• It is typically not at (width/2, height/2) of image
§ Focal length
§ Different scaling factors for row pixels
and column pixels
§ Skew factor
§ Lens distortion (pin-cushion effect)
Motivation
• Good calibration is important when we need
to
§ Reconstruct a world model: Virtual L.A. project
§ Interact with the world
• Robot, hand-eye coordination
Image plane
We see a square of
known size
Evaluation of position of a square for 2 focal
lengths (red and blue projection geometry)
Scaling of Rows and Columns
in Image
• Camera pixels are not necessarily square
• Camera output may be analog (NTSC)
• Image may be obtained by digitizing card
§ A/D converter samples NTSC signal
Camera
NTSC signal Digitizing
Monitor
display
CCD/
CMOS
Compound Lens Imaging
• Inexpensive single lens systems distort image at
its periphery
• Compound lenses may be used to reduce
chromatic effects and pin-cushion effects
C
Camera
Image plane
Image plane for equivalent
pinhole camera is
not camera image plane
Principal planes
Center of Projection
Nodal Point
f
f
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