内参数异构情况下摄像机平移位置的测定

在手眼系统中,摄像机平移是比较容易实现和经常需要的一种运动.本文首先给出了摄像机调整焦距后,焦距标定的两个比较简捷的方法.然后,根据平移运动中摄像机获取的两幅不同图像,在焦距不同的情况下,给出了检测摄像机坐标系平行移动的方向的方法.事实上,摄像机调整焦距也是一种平移运动,因此这时的摄像机的平移运动是两种平移运动的综合的结果,同时给出了由平台平移引起的摄像机坐标系平移位置的求解方法.

Finding the Position of the Camera Translation with Different Inner Parameters

In the eye-in-hand systems, camera translation can be easily realized and it is a movement needed very often. In this paper, two simple methods are presented to mark the focal length after the camera focal length is adjusted. Then, a method is given to detect the direction of the camera with different focal lengths according to the two images captured before and after motion. In fact, the adjustment of camera focal length is also a translation motion, and translation of the camera at this time is the synthetic result of the two translation motions. Finally, a method is given to solve the translation position of the camera coordinate system caused only by the manipulator translation.