用准直仪系统实现无需移动相机的快速高精度标定
Flexible Camera Calibration using a Collimator System
- 基于准直仪光学特性建立角度不变约束，将6自由度运动简化为3自由度纯旋转
- 提出多图闭式线性求解器和两图极小解法，提升标定效率与精度
- 仅需单张图像即可完成标定，适合现场快速部署
相机标定是摄影测量与三维视觉应用中的关键步骤。本文提出一种基于自研准直仪系统的新型相机标定方法。该准直仪系统为相机提供可靠且可控的标定环境。利用准直仪独特的光学几何特性，我们引入角度不变性约束，并证明标定目标与相机之间的相对运动符合球面运动模型。该约束将原本6自由度的相对运动简化为3自由度纯旋转运动。基于此，我们提出了适用于多张图像的闭式线性求解器及适用于两张图像的极小解法，用于相机标定。此外，我们还提出一种基于角度不变性约束的单张准直仪图像标定算法，无需相机运动即可完成标定，为灵活高效的标定提供了新方案。在合成数据与真实场景实验中验证了该方法的有效性，结果表明其性能优于现有基准方法。演示代码已开源：https://github.com/LiangSK98/CollimatorCalibration
原文摘要 · Abstract (English)
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable calibration environment for the camera. Exploiting the unique optical geometry property of our collimator system, we introduce an angle invariance constraint and further prove that the relative motion between the calibration target and camera conforms to a spherical motion model. This constraint reduces the original 6DOF relative motion between target and camera to a 3DOF pure rotation motion. Using spherical motion constraint, a closed-form linear solver for multiple images and a minimal solver for two images are proposed for camera calibration. Furthermore, we propose a single collimator image calibration algorithm based on the angle invariance constraint. This algorithm eliminates the requirement for camera motion, providing a novel solution for flexible and fast calibration. The performance of our method is evaluated in both synthetic and real-world experiments, which verify the feasibility of calibration using the collimator system and demonstrate that our method is superior to existing baseline methods. Demo code is available at https://github.com/LiangSK98/CollimatorCalibration
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