In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time. This approach makes calibration procedures redundant, thus allowing for exchange of optics extemporaneously. By utilizing the IMU data, the cameras can be aligned with the gravity direction. This allows us to work with fewer degrees of freedom, and opens up for further intrinsic calibration. We propose a fast and robust minimal solver for simultaneously estimating the focal length, radial distortion profile and motion parameters from homographies. The proposed solver is tested on both synthetic and real data, and perform better or on par with state-of-the-art methods relying on pre-calibration procedures.
翻译:在本文中,我们为配备了实时惯性测量单位的无人驾驶航空器(无人驾驶航空器)的机载辐射扭曲校正提供了一种新型算法,该算法使校准程序变得多余,从而允许瞬间交换光学。通过使用IMU数据,摄像头可以与重力方向相匹配。这使我们能够以较少的自由度工作,并开启进一步的内在校准。我们提出了一个快速和强大的最低求解器,用于同时估算焦距、辐射扭曲剖面和同质体的运动参数。提议的解答器用合成数据和真实数据进行测试,并运行得更好或与依赖校准前程序的最新方法相匹配。