Euclidean epipolar rectification frame of weakly calibrated stereo pairs

LI Guo-dong; TIAN Guo-hui; WANG Hong-jun; YIN Jian-qin

doi:10.3788/OPE.20142207.1955

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Euclidean epipolar rectification frame of weakly calibrated stereo pairs

更新时间：2020-08-13

- Euclidean epipolar rectification frame of weakly calibrated stereo pairs
- Optics and Precision Engineering Vol. 22, Issue 7, Pages: 1955-1961(2014)
- 作者机构：
  
  1. 山东大学控制科学与工程学院,山东济南,250061
  2. 山东大学信息科学与工程学院,山东济南,250100
  3. 济南大学信息科学与工程学院,山东济南,250022
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142207.1955
  CLC： TP391
- Received：26 July 2013，
  
  Revised：24 September 2013，
  
  Published：25 July 2014
- 稿件说明：
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李国栋, 田国会, 王洪君等. 弱标定立体图像对的欧氏极线校正框架[J]. 光学精密工程, 2014,22(7): 1955-1961

LI Guo-dong, TIAN Guo-hui, WANG Hong-jun etc. Euclidean epipolar rectification frame of weakly calibrated stereo pairs[J]. Editorial Office of Optics and Precision Engineering, 2014,22(7): 1955-1961
李国栋, 田国会, 王洪君等. 弱标定立体图像对的欧氏极线校正框架[J]. 光学精密工程, 2014,22(7): 1955-1961 DOI： 10.3788/OPE.20142207.1955.

LI Guo-dong, TIAN Guo-hui, WANG Hong-jun etc. Euclidean epipolar rectification frame of weakly calibrated stereo pairs[J]. Editorial Office of Optics and Precision Engineering, 2014,22(7): 1955-1961 DOI： 10.3788/OPE.20142207.1955.

摘要

为了快速且直观地对相机弱标定（即相机内参数已知而外参数未知）情况下的立体图像对进行欧氏极线校正，提出了一套完整的欧氏极线校正框架。首先，针对两视图对应相机的位姿信息估计问题，提出一种新的不依赖矩阵奇异值分解运算的本质矩阵分解和唯一解确定算法。然后，对传统欧氏极线校正问题进行推广，并利用估计出的相机位姿构造出具有明确几何意义的无穷单应变换对，进而将其施加到立体图像对来完成欧氏极线校正。最后，利用8组SYNTIM立体图像对验证了所提出校正框架的正确性和校正精度。实验结果表明：该欧氏极线校正框架不仅形式直观，计算简单，易于实现，而且具有明确的几何意义。与其他欧氏极线校正方法比较，提出的方法能够获得更高的校正精度，且更好地消除了立体图像对的水平或垂直视差。

Abstract

To quickly and intuitively finish the Euclidean epipolar rectification of weakly calibrated stereo pairs(namely

the camera intrinsic parameters are known and the camera external parameters are unknown)

an integral Euclidean epipolar rectification frame was proposed.Firstly

a novel essential matrix decomposition and unique solution determination algorithm independent on the Singular Value Decomposition (SVD) operation was proposed to determine the position and orientation information between two cameras.Then

the problem of traditional Euclidean epipolar rectification was generalized

and the infinite homography matrixes were constructed by the estimated camera position and orientation to finish the rectification process of stereo pairs.Finally

the eight groups of SYNTIM images were used to validate the correctness and accuracy of the rectification frame.Experimental results indicate that the proposed frame has the advantages of intuitive form

low computational complexity and easy implementation

as well as the explicit geometrical meanings.As comparison with traditional Euclidean epipolar rectification method

it can well remove the horizontal or vertical disparities of stereo pairs

and can offer higher rectification accuracy.

关键词

Keywords

references

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吕恒毅,刘杨,郭永飞. 遥感相机焦面CCD机械拼接中重叠像元数的确定[J]. 光学精密工程,2012,20(5):1041-1047. LV H Y,LIU Y,GUO Y F. Computation of over lapping pixels of mechanical assembly CCD focal planes in remote sensing cameras[J]. Opt. Precision Eng.,2012,20(5):1041-1047.

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