基于直线的全维视觉系统标定方法研究

利用空间直线的中心折反射投影的特性对全维视觉系统的标定方法进行了研究。应用光线追迹法提取空间直线折反射图像上的点，并提出一种基于最小二乘理论的二次曲线拟合方法，将其应用到直线折反射图像的拟合中，最终求出系统成像参数，完成对全维视觉系统的标定。对真实全维视觉系统的标定实验验证了该方法的实用性。
关键词：全维视觉系统；标定；二次曲线；拟合；光线追迹法

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Abstract: This paper introduces the study on omni-directional vision system calibration method using central catadioptric projection property of space line. The catadioptric image point of space line was captured applied ray-tracing algorithm. A conic fitting algorithm based on least-square theory was raised which be used in catadioptric image fitting of line. System imaging parameter was determined by cholsky decomposition and omni-directional vision system was calibration. The calibration experiment on real omni-directional vision system verifies its effect.
Keywords: omni-directional vision system; calibration; conics; fit; ray-tracing algorithm