单目变焦摄像机自运动的标定测量法

为了在单目摄像机变焦情况下测量其自运动参数，提出一种单目变焦摄像机自运动的参数标定测量法。在飞行平台着陆过程中，固连其上的单目俯视摄像机对包含已知世界坐标的特征点的静态着陆平面进行连续拍摄，该方法利用单帧图像可解算得到摄像机拍摄当时的等效焦距及其相对于着陆平面的6自由度位置，结合多帧信息即可对摄像机自运动的运动速度进行估计，进而转换为飞行平台的着陆运动参数。实验结果证明该方法可行有效。

Ego Motion Measurement of Monocular Zooming Camera Based on Calibration

In order to measure the ego motion of the monocular zooming camera, this paper presents a method named Para-Calibration measurement. When the flying platform is landing, the downward-looking monocular camera fixed to it keeps shooting the static landing plane, on which there are several feature points with world coordinates known. On this condition, the method presented can calculate the equivalent focal lengths and the 6 DOF position relative to the landing plane by one frame. Then, the velocity of ego motion can be estimated by combining sequential frames and the landing motion will be drawn. Experimental results show that the method is practicable and efficient.