一种基于双目主动视觉的线性自标定算法

从理论上推导出了绝对二次曲面包含了摄像机全部内参数和无穷远平面信息，并根据双目视觉之间的平移关系，扩展了无穷远平面信息对绝对二次曲面的线性约束，仅仅通过两幅图像就可以线性自标定和三维重建．大量仿真试验和真实图像说明本方法能够得到满意的结果，可以应用到实际视觉测量，并且也可以作为非线性自标定优化的初始值．

A Linear Self-calibration Algorithm Based on Binocular Active Vision

This paper proves theoretically that the absolute dual quadric includes the whole intrinsic camera parameters and infinite plane. According to the pure translation relation of binocular vision, linear constraints are added to the absolute dual quadric, and only with two images, linear self calibration and three dimensional reconstruction can be made. Many experiments with both synthetic and real images show that our method can obtain satisfactory result and can be applied to practical vision measurement, and can be used as the initial values of nonlinear optimization.