Tsai Camera Model&nbsp…

最近做AR涉及到了相机的自标定，又要开始跟线代做斗争了，网上找到Tsai最初的Calibration model的文，记录下:http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/DIAS1/

Tsai Camera Model

The Tsai model is based on a pinhole perspective projection model and the following eleven parameters are to estimate:

f - Focal length of camera,

k - Radial lens distortion coefficient,

C_x, C_y - Co-ordinates of centre of radial lens distortion,

S_x - Scale factor to account for any uncertainty due to imperfections in hardware timing for scanning and digitisation,

R_x, R_y, R_z - Rotation angles for the transformation between the world and camera co-ordinates,

T_x, T_y, T_z - Translation components for the transformation between the world and camera co-ordinates.

 

Figure 1: Tsai Camera re-projection model with perspective projection and radial distortion.

 

The transformation from world (X_w,Y_w,Z_w) to image (X_i,Y_i,Z_i) co-ordinates considers the extrinsic parameters of the camera (Translation T and Rotation R) within the equation:

where R and T characterize the 3D transformation from the world to the camera co-ordinate system and are defined as follows:

with

(R_x,R_y,R_z) the Euler angles of the rotation around the three axes.

(T_x,T_y,T_z) the 3D translation parameters from world to image co-ordinates.

The transformation from 3D position (in the image co-ordinate frame) to the image plane is then computed through the following steps (see Figure 1):

Transformation from 3D world co-ordinates (X_i,Y_i) to undistorted image plane (X_u,Y_u) co-ordinates

Transformation from undistorted (X_u,Y_u) to distorted (X_d,Y_d) image co-ordinates

where

, and k is the lens distortion coefficient.

Transformation from distorted co-ordinates in image plane (X_d,Y_d) to the final image co-ordinates (X_f,Y_f) are:

with

(d_x,d_y): distance between adjacent sensor elements in the X and Y direction. d_x and d_y are fixed parameters of the camera. They depend only on the CCD size and the image resolution, (X_f,Y_f) are the final pixel position in the image.

References

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