单目主动视觉无人机导引中摄像机内参数标定的线性方法

提出一种单目主动视觉无人机导引中摄像机内参数标定的线性方法,在摄像机主点位置进行预标定的条件下,摄像机只需拍摄一幅着舰平面靶标上的一组正方形图像,无须知道该组正方形的任何几何信息,通过计算圆环点,建立绝对二次曲线对摄像机内参数的约束方程即可线性求解摄像机内参数,仿真实验和真实图象实验表明:该方法在摄像机内参数(如焦距等)需要经常改变的视觉任务,如基于视觉的无人机着舰导引、运动参数估计、三维视觉重建及视觉监控中,使得摄像机内参数的标定具有简便、实时和鲁棒性强的特点。

A Linear Algorithm for Determining Intrinsic Parameters of Zoomed Monocular Camera in the Vision Based Landing of an UAV

A linear algorithm is proposed to determine the intrinsic parameters of zoomed monocular camera in the vision based landing of an UAV(Unmanned Air Vehicle).With the knowledge of the camera's principal point,the images of the two circular points are derived only from a group of squares without any metric measurement in one planar landing target image,then two linear constraints on the intrinsic parameters are established via the absolute-conic.Experiments with simulated data as well as with real images show that: the linear algorithm is accurate,real-time and efficient,and can be used either in the vision based landing of an UAV,3-D motion estimation,3-D reconstruction or visual surveillance where the camera intrinsic parameters such as focal length are need to be changed.