中心反折射全景相机标定- - 共形几何代数方法

项目名称： 中心反折射全景相机标定- - 共形几何代数方法

项目编号： No.11301021

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 数理科学和化学

项目作者： 赵丽娜

作者单位： 北京化工大学

项目金额： 22万元

中文摘要： 全景照相机因其具有超大视场而吸引了机器人导航、自动检测、生物医学等应用领域的普遍关注，其成像原理与标定方法成为了计算机视觉领域的热点与难点问题。折反射视觉系统是在传统相机增加反射面得到的全景相机，单光心折反射成像可以视为两步投影的合成。基于文献普遍的标定方法多是基于单一类型几何体作为标定物的非线性方法，但真实的标定前提是场景对应的几何形状未知，场景动态链可以包含点、直线、圆、球、平面及其组合形式。本课题旨在提出一种基于动态链的单光心折反射全景照相机线性标定方法，从而提高标定的稳定性、精确性和普适性。本课题拟将1）利用共形几何代数表示几何体，用Lorentz变换表示成像的两步投影，在简化反折射全景照相机成像原理的同时，给出折反射图像的几何不变量；2）通过数值与符号相结合的方法求解不变量方程，从而标定折反射成像系统。该方法可直接应用于导航与姿态估计中。

中文关键词： 相机标定；共形几何代数；折反射成像；几何不变量；

英文摘要： Enlarging the narrow field of view for traditional cameras, Omnidirectional cameras benefit robot navigation, visual surveillance, biological medicine as well as image formation and calibration of omnidirectional vision become the hot and open problem for computer vision community. Catadioptric sensor is combine a reflection mirror with the classical camera and the image formation can be view as two step projection. Survey the literature for catadioptric system, most of calibration approaches are based one type objects and with the nonlinear nature. Using conformal geometric algebra model we will give a method to calibration for central catadioptric system based on a kinematic chains which is more robust, accuracy and universality. Before the first sight of the image, we could not assume any geometric object in the scene image and the reality is the combinations of point, point pair, circle, sphere and plane. In our project, we will use conformal geometric algebra represents geometric object and use Lorentz transformations for two steps projection which simplify the image formation. Next, using the projective invariants for catadioptric image, the invariant equations are solved by the combination with numerical and symbolic methods and catadioptric systems are calibration. This approach can be directly used in t

英文关键词： Camera Calibration；Conformal Geometric Algebra；Catadioptric Image Formation；Geometric invariant；