Yu Yingjian, Guan Banglei, Sun Xiangyi, Li Zhang
Appl Opt. 2021 Dec 10;60(35):10785-10794. doi: 10.1364/AO.443607.
This paper proposes a flexible method for camera self-calibration using affine correspondences and known relative rotation angle, which applies to the case that camera and inertial measurement unit (IMU) are tightly fixed. An affine correspondence provides two more constraints for the self-calibration problem than a traditional point correspondence, and the relative rotation angle can be derived from the IMU. Therefore, calibrating intrinsic camera parameters needs fewer correspondences, which can reduce the iterations and improve the algorithm's robustness in the random sample consensus framework. The proposed method does not require rotational alignment between the camera and the IMU. This advantage makes our method more convenient and flexible. The experimental results of both synthetic data and publicly available real datasets demonstrate that our method is effective and accurate for camera self-calibration.
本文提出了一种利用仿射对应和已知相对旋转角度进行相机自校准的灵活方法，该方法适用于相机与惯性测量单元（IMU）紧密固定的情况。与传统的点对应相比，仿射对应为自校准问题提供了另外两个约束条件，并且相对旋转角度可从IMU得出。因此，校准相机内参所需的对应点更少，这可以减少迭代次数并提高算法在随机抽样一致性框架中的鲁棒性。所提出的方法不需要相机和IMU之间的旋转对齐。这一优势使我们的方法更加方便灵活。合成数据和公开可用的真实数据集的实验结果表明，我们的方法对于相机自校准是有效且准确的。
