双目视觉系统的立体标定与校正

双目视觉系统的立体标定与校正是立体视觉的重要环节，也是研究的关键领域。本文简述了图像、摄像机坐标系和世界坐标系及其相互之间的关系，给出了摄像机标定、立体标定与校正的基本原理；在完成单个摄像机标定的基础上进行了立体标定，并应用Bouguet算法进实现了双目视觉系统的立体校正，得到了双目视觉系统的重要参数旋转矩阵与平移向量，并将双目视觉系统校正为数学意义上的前向平行对准结构。

Stereo Calibration and Rectification of Binocular Vision System

The stereo calibration and rectification of binocular vision system is the important part of stereo vision, and also the key field of study. This article briefly introduced image reference frame, camera reference frame, world reference frame and their correlation. Based on the calibration of single camera, it finished stereo calibration, and finished stereo rectification of binocular vision system by using arithmetic of Bouguet, and worked out the important parameter of binocular vision system: rotation matrix and transfer vector, then rectified the binocular vision system as forward- parallel frame mathematically.