一种获取摄像机安装高度及倾角的简易标定方法

提出了一种在摄像机内参数已知的情况下,通过地面上已知的4个及以上共面点求解出摄像机安装高度和安装倾角的标定方法.选定地面为X-O-Y面,则Z轴方向的平移因子即为摄像机的安装高度.方法借鉴了利用共面点进行标定的方法,在计算过程中利用投影矩阵元素间的比值关系,巧妙地消除了深度因子的影响,求解出了旋转角度和摄像机的安装高度,进而得到了摄像机的外参数矩阵.将多组实验计算出的安装高度结果和实际测量值相对比,得到的误差非常小,证明了该算法计算简便且具有较高的准确性.

The method of obtaining the installation height and angle in camera calibration

Under the condition of known intrinsic parameters, the paper presents a calibration approach of getting the installed height and the angle of the cameras through 4 or more known coplanar points on the ground. If the ground is chosen as the X-O-Y plane, the translation factor on Z-axis direction is the installed height of the camera. This method references the calibration method of using the coplanar points in the same plane, by using the ratio relationship between elements of the projection matrix, it cleverly eliminates the influence of the depth factor and works out the installed height and the angles of rotation of the camera, by which we get extrinsic parameter matrices of the cameras. The results of several experiments are compared with the actual value of the installation height, the deviation is very small, and it proves the method has the simplicity of computation and high accuracy.