| 摘要: |
| 经典的PnP(3(n(5)问题从本质上来说是非线性的,不但具有多解性而且对图像点的位置误差极为敏感.经典PnP问题仅涉及一幅图像,针对机器人导航中的实际需求,将PnP问题扩展到了摄像机作平移运动下的两幅图像的情况,并研究探讨了在这种情况下PnP问题的线性求解方法,主要结果有:给定平移运动下n个控制点的两幅图像,(1) 当n＝3时,可线性求解摄像机的方位以及摄像机内参数的两个尺度因子;(2) 当n4时,不仅可以线性求解摄像机的方位,而且能够确定摄像机的所有内参数.也就是说,给定平移视点下的两幅控制点图像,可以线性求解摄像机未标定的PnP问题.结果具有一定的理论意义和应用价值. |
| 关键词: PnP问题 摄像机内参数 摄像机方位 |
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| 基金项目:Supported by the National Natural Science Foundation of China under Grant Nos.60375009, 69975021 (国家自然科学基金); the National High-Tech Research and Development Plan of China under Grant No.2002AA422230 (国家高技术研究发展计划) |
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| A Linear Method for the PnP Problem |
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WU Fu-Chao,HU Zhan-Yi
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| Abstract: |
| The classical PnP problem (3≤n≤5) is inherently non-linear and generally of multiple solutions and sensitive to errors associated with image points. In the classical PnP problem, only a single image is involved. Inspired by the problems in robot navigation, the PnP problem is extended to the two-image case where the camera undergoes a pure translation between the two images. The obtained main results are: given two images of n known control points captured by a translating camera, (1) When n=3, the camera’s pose and two scaling parameters of the two image axes can be linearly determined; (2) When n≥4, the camera’s pose and all its 5 intrinsic parameters can be linearly determined. In other words, the PnP problem with an uncalibrated camera can be linearly solved in this case. The results presented in this paper appears instructive from both theoretical and practical points of view. |
| Key words: PnP problem camera intrinsic parameter camera pose |
