Fast Calibration of Embedded Non-overlapping Cameras
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今天看了一篇对没有重叠场景的相机阵列进行标定的文章。这里以相机阵列有两个相机为例来说明文章的内容。尽管是在做标定,作者也求了相机所拍场景的的三维点的位置。
对于两个相机C1, C2,我们希望去获得它们之间的相对位置变换,解决思路为:移动相机,获得相机的轨迹,也就是相机相对前一个位置的变化,然后利用Robotics中的AX=XB去估计我们要求的X,吧这个作为算法的输入,再利用bundle adjustment 去优化获得更好的解。
作者定义了一个全局坐标系,要计算的未知量是:相机C1每次移动后的位置相对于世界坐标系的变换,相机C2相对于C1的变换,场景中点的三维坐标。
通过最小化投影误差来求解未知量,这是一个非线性最小二乘问题,可以通过Levenberg-Marquardt去求解。作者在文中给出了详细的推导过程。
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