weixin_45626706的博客

A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses常规、广角和鱼眼镜头的通用相机模型和校准方法下载地址 ： https://www.researchgate.net/publication/6899685_A_Generic_Camera_Model_and_Calibration_Method_for_Conventional_Wide-Angle_and_Fish

Automatic online Calibration of Cameras and Lasers

目录Pixel-level Extrinsic Self Calibration of High Resolution LiDAR and Camera in Targetless EnvironmentsAbstract1.Introduction2.Related Works3.MethodA. OverviewB. Edge Extraction and Matching1) Edge Extraction:2) Matching:C. Extrinsic Calibration1) Measurem

目录1.单目矩阵求解修改迭代去畸变DLT算法畸变修改1.单目矩阵求解修改归一化直接线性变换通过计算一个相似变换T，将质心转换到原点，并缩放到离原点的平均距离为2\sqrt{2}2​，将点集合标准化ui=[ui′,vi′]Tui = [u_i', v_i']^Tui=[ui′​,vi′​]T同样地，通过计算相似变换T’对点u′=[ui′,vi′]Tu' = [u'_i,v'_i]^Tu′=[ui′​,vi′​]T进行归一化对归一化点应用基本的DLT算法，得到单应矩阵H‘去归一化得到单应性:H

目录求解单应矩阵根据相机模型并暂时忽略畸变，有s[uv1]=A[RT]][XwYWZW1]=A[r1r2r3t][XwYWZW1]s\left[\begin{array}{l}u \\ v \\ 1\end{array}\right]=\mathbf{A}\left[\begin{array}{ll}R & T]\end{array}\right]\left[\begin{array}{c}X_{w} \\ Y_{W} \\ Z_{W} \\ 1\end{array}\right]=A\left