Camera calibration is the first step of three-dimensional machine vision. A fundamental parameter to be calibrated is the position of the camera projection center with respect to the image plane. This paper presents a method for the computation of the projection center position using images of a translating rigid object, taken by the camera itself.
Many works have been proposed in literature to solve the calibration problem, but this method has several desirable features. The projection center position is computed directly, independently of all other camera parameters. The dimensions and position of the object used for calibration can be completely unknown.
This method is based on a geometric relation between the projection center and the focus of expansion. The use of this property enables the problem to be split into two parts. First a suitable number of focuses of expansion are computed from the images of the translating object. Then the focuses of expansion are taken as landmarks to build a spatial back triangulation problem, the solution of which gives the projection center position. 相似文献
Experimental tests showed that poststrike elevation in tongue-flicking rate (PETF) and strike-induced chemosensory searching (SICS) in the gila monster last longer than reported for any other lizard. Based on analysis of numbers of tongue-flicks emitted in 5-min intervals, significant PETF was detected in all intervals up to and including minutes 41–45. Using 10-min intervals, PETF lasted though minutes 46–55. Two of eight individuals continued tongue-flicking throughout the 60 min after biting prey, whereas all individuals ceased tongue-flicking in a control condition after minute 35. The apparent presence of PETF lasting at least an hour in some individuals suggests that there may be important individual differences in duration of PETF. PETF and/or SICS are present in all families of autarchoglossan lizards studied except Cordylidae, the only family lacking linguallly mediated prey chemical discrimination. However, its duration is known to be greater than 2-min only in Helodermatidae and Varanidae, the living representatives of Varanoidea. That prolonged PETF and SICS are typical of snakes provides another character supporting a possible a varanoid ancestry for Serpentes. Analysis of 1-min intervals showed that PETF occurred in the first minute. A review of the literature suggests that a pause in tongue-flicking and delay of searching movements are absent in lizards and the few nonvenomous colubrid snakes tested. The delayed onset of SICS may be a specific adaptation of some viperid snakes to allow potentially dangerous prey to be rendered harmless by venom following voluntary release after envenomation and preceding further physical contact with the prey. 相似文献