附约束条件的立体相机标定方法

在计算机视觉和摄影测量领域，经常应用立体相机对场景进行高精度的三维重建，其中立体相机的内参数和相机间的固定相对关系的高精度标定是关键的环节。本文推导了立体相机系统的两个相机间之间固定相对关系的六个独立约束条件，并利用这些约束关系按照附有限制条件的间接平差模型进行自检校光束法整体平差解算，从而实现立体相机的标定。最后的模拟数据和实际数据试验说明固定相对关系约束条件的引入，能够有效增加平差系统的多余观测数，提高标定的精度和稳健性。此方法能够方便地推广到多个相机组成的多相机立体量测系统的标定中。

Stereo-camera Calibration with Restrictive Constraints

In the field of computer vision and close range photogrammetry, it is critical to accurately calibrate the intrinsic parameters and the fixed relative orientation relationship between the two cameras of the stereo-camera system used for high precision 3D reconstruction. In this paper, six fixed and independent relative orientation constraints between the two cameras are derived firstly, and then self-calibration bundle adjustment with restrictive constraints is employed to calibrate the stereo-camera system. Finally, synthetic and real data are both employed to verify the performance of the calibration method proposed in this paper. The experiment result reveals that the proposed relative orientation constraints can effectively increase the redundant observations of the calibration adjustment system, and this can improve the accuracy and stability of the calibration. This method can also be extended to other stereo-camera systems which consist of more than two cameras.