通信工程文献翻译——摘要

我们提出了一种灵活的新技术很容易校准相机。它只需要相机观察平面模式显示在（至少两个）不同的取向。不论是相机或平面模式，可以自由移动。而这个移动不需要知道。径向镜头畸变是仿效。程序构成一个封闭形式解，其次是一种非线性细化基于最大似然准则。计算机仿真和实时数据已被用来测试这种方法并且获得很好的结果。相比，传统的标定方法，其中使用昂贵的设备，而所提出的新的标定方法只需两个或三个正交平面，它是实用和灵活。它推进三维计算机视觉进一步，从实验室环境到现实世界的应用。

索引词，相机标定，水平标定，二维模式，基于灵活的平面标定，绝对圆锥曲线，投射映射，镜头畸变， 封闭形式解，最大似然估计，灵活的安装程序。 

1 引言

摄像机标定是一个必要的步骤，在三维计算机视觉中为了从二维图像提取度量信息。许多工作已经做了，开始在公共的摄影测量，以及最近在计算机视觉，我们大致可以把那些技术分为两类：摄影测量标定和自标定。 

基于对象的三维参数的标定。 摄像机标定是由观测标定对象，其几何在三维空间是已知的且有非常良好的精密度。标定可以做的非常有效率标定对象通常由两个或三个相互正交平面组成。有时，一个平面也可以用来求的精确的转化参数这些方法需要昂贵的校准仪器，和一个复杂的安装......

Abstract  

We propose a flexible new technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two)different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution, followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique and very good results have been obtained. Compared with classical techniques which use expensive equipment such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one more step from laboratory environments to real world use. The corresponding software is available from the author's Web page. 

Index  TermsDCamera calibration, calibration from planes, 2D pattern, flexible plane-based calibration, absolute conic, projective mapping, lens distortion, closed-form solution, maximum likelihood estimation, flexible setup.

1 Motivations

CAMERA calibration is a necessary step in 3D computer vision in order to extract metric information from......