| 摘要 |
A method of calibrating a camera system which is capable of recording at least two images simultaneously is described. The method comprises the step of processing a first pair of images, wherein the processing step comprises transforming at least one of a first and a second image of the first pair through a projective map on a plane, the map depending on one or more parameter values, so as to align an epipolar line in the first image with a corresponding epipolar line in the second image of the first pair, resulting in a second pair of images. The method further comprises estimat ing respective values for a disparity, which values associate respective first pixels along a first epipolar line in a first image of the second pair with respect ive second pixels along a corresponding second epipolar line in a second image of the second pair, and displacing respective pixels of the first epipolar line in the first image of the second image pair in accordance with a respective value of the disparity for the respective pixels. The method further comprises determining a measure of error between the first and the second image of the second image pair, dependent on the one or more parameters, determining an update for the one or more parameter values for reducing a value of the measure of error, and updating the one or more parameter values, using the update. |
