| 主权项 |
1. An apparatus for calibrating a stereoscopic camera, the apparatus comprising:
a processing unit configured to support at least a first triangulation unit, a second triangulation unit and a Bundle Adjustment unit, with respect to at least one stereo-image of the stereoscopic camera, wherein: the first triangulation unit and second triangulation unit are coupled to the Bundle Adjustment unit; the first triangulation unit is configured to generate a first plurality of 3D object-point coordinates estimates, E3D, based on at least a plurality of measured 2D image-point correspondences, PCO, of the stereo-image and an initial calibration estimate, CAE, of the stereoscopic camera; the first triangulation unit is further configured to generate a first reprojection error, RPE1, corresponding to the error between the PCO and a projection of the E3D on the CAE; the Bundle Adjustment unit is configured to generate a refined calibration estimate, RCA, of the stereoscopic camera based on at least the PCO, the CAE and the E3D; the second triangulation unit is configured to generate a second plurality of 3D object-point coordinates estimates, NE3D, based on at least the PCO and the RCA; the second triangulation unit is further configured to generate a second reprojection error, RPE2, corresponding to the error between the PCO and a projection of the NE3D on the RCA; the Bundle Adjustment unit is further configured to update the RCA of the stereoscopic camera based on at least the PCO, the CAE and the NE3D; and, the processing unit is further configured to determine whether a convergence criterion has been met, the convergence criterion being based on at least the RPE2 obtained by iteratively generating the RCA and the RPE2 and being indicative of whether or not a camera calibration ground-truth has been found. |
