鱼眼相机矢量观测检校模型及其应用

doi:10.11947/j.AGCS.2016.20150080

测绘学报 ›› 2016, Vol. 45 ›› Issue (3): 332-338.doi: 10.11947/j.AGCS.2016.20150080

鱼眼相机矢量观测检校模型及其应用

詹银虎¹, 郑勇¹, 张超¹, 骆亚波², 王凯³

1. 信息工程大学导航与空天目标工程学院, 河南郑州 450001;
2. 郑州大学水利与环境学院, 河南郑州 450001;
3. 总装备部工程设计研究总院, 北京 100028

收稿日期:2015-02-02 修回日期:2016-01-08 出版日期:2016-03-20 发布日期:2016-03-25
作者简介:詹银虎(1986-),男,博士生,研究方向为天文导航。
基金资助:
国家自然科学基金(11373001;41504018)

Fish-eye Camera Calibration Model Based on Vector Observations and Its Application

ZHAN Yinhu¹, ZHENG Yong¹, ZHANG Chao¹, LUO Yabo², WANG Kai³

1. College of Navigation and Aerospace Engineering, Information Engineering University, Zhengzhou 450001, China;
2. College of Water Conservancy and Environmental, Zhengzhou University, Zhengzhou 450001, China;
3. Center for Engineering Design and Research under the Headquarters of General Equipment, Beijing 100028, China

Received:2015-02-02 Revised:2016-01-08 Online:2016-03-20 Published:2016-03-25
Supported by:
The National Natural Science Foundation of China(Nos.11373001;41504018)

摘要/Abstract

摘要： 提出了一种基于矢量观测的鱼眼相机检校新模型。该模型中的基本观测量不仅包括半视场角,而且包括方位角。在模型中引入罗德里格矩阵,采用3个罗德里格参数表示外方位元素,简化了观测方程的形式及运算。采用实测的星图数据对新模型与基于半视场角约束的检校模型进行比较,结果表明新模型在约束方位角误差方面具有明显的优势,在约束半视场角误差方面略有不足。建议在实际应用中首先采用基于半视场角约束的检校模型确定径向畸变参数,然后再采用新模型求解其他相机参数。

关键词: 天文导航, 鱼眼相机, 相机检校, 罗德里格矩阵, 精度估计

Abstract: A fish-eye camera calibration model is presented, basic observations of which consist of both half angle of view and azimuth. Rodrigues matrix is introduced into the model, and three Rodrigues parameters instead of Euler angles are used to represent elements of exterior orientation in order to simplify the expressions and calculations of observation equations.The new model is compared with the existing models based on half angle of view constraint by actual star-map data processing, and the results indicate that the model is superior to control the azimuth error, while slightly inferior to constrain the error of half angle of view. It is advised that radial distortion parameters should be determined by the model based on half angle of view constraint at first, and other camera parameters should be calculated by the new model.

Key words: celestial navigation, fish-eye camera, camera calibration, Rodrigues matrix, precision estimation

中图分类号:

P231

詹银虎, 郑勇, 张超, 骆亚波, 王凯. 鱼眼相机矢量观测检校模型及其应用[J]. 测绘学报, 2016, 45(3): 332-338.

ZHAN Yinhu, ZHENG Yong, ZHANG Chao, LUO Yabo, WANG Kai. Fish-eye Camera Calibration Model Based on Vector Observations and Its Application[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(3): 332-338.

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鱼眼相机矢量观测检校模型及其应用

Fish-eye Camera Calibration Model Based on Vector Observations and Its Application

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