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李书杰, 刘晓平(合肥工业大学计算机与信息学院, 合肥 230009)

摘 要
目的 针对对应点个数大于等于6的摄像机位姿估计问题,提出一种既适用于已标定也适用于未标定摄像机的时间复杂度为On)的高精度快速算法。方法 首先选取4个非共面虚拟控制点,并根据空间点和虚拟控制点的空间关系以及空间点的图像建立线性方程组,以此求解虚拟控制点的图像坐标及摄像机内参,再由POSIT(pose from orthography and scaling with iterations)算法根据虚拟控制点及其图像坐标求解旋转矩阵和平移向量。结果 模拟数据实验和真实图像实验表明该算法时间复杂度和计算精度均优于现有的已标定摄像机位姿的高精度快速求解算法EPnP(efficient perspective-n-point)。结论 该算法能够同时估计摄像机内外参数,而且比现有算法具有更好的速度和精度。
An accurate and fast algorithm for camera pose estimation

Li Shujie, Liu Xiaoping(School of Computer and Information, Hefei University of Technology, Hefei 230009, China)

Objective Aiming at the camera pose estimation problem, with the corresponding points number greater than six, we propose an accurate and fast algorithm which has a time complexity of O(n) and is applicable to both: calibrated cameras and uncalibrated cameras. Method First, four non-coplanar virtual control points are selected and linear equations according to the relationship between space points and virtual control points and the image of space points are being setup. Then the image coordinates of the virtual control points and the camera internal parameters are solved by these equations. Second, the rotation matrix and the translation vector are solved by the POSIT (pose from orthography and scaling with iterations) algorithm according to virtual control points and their image points. Result Experimental results with simulative data and real images indicate that the time complexity and calculation precision of the proposed algorithm are better than EPnP (efficient perspective-n-point) algorithm which is the existing accurate and fast pose estimation algorithm for calibrated camera.Conclusion The proposed algorithm can estimate both camera internal and external parameters, and time complexity and calculation precision are better then existing methods.