摘要： 分析基于平面方格点的摄像机标定算法，指出基于表征靶标平面到图像平面映射的矩阵的求解存在标定点的相关性问题。通过引入基准系统，包括确定标记选取的理论标准、分析其环境识别率和相互间的错识别率，提出一套从标记点提取到其像平面坐标计算的改进过程和相关公式。实验结果表明，该算法对室内场景可控的小视场标定领域具有实际应用价值。

关键词: 摄像机标定, 基准标记, 相关性

Abstract: This paper analyzes the algorithm based on the grid points and points out the basis of the algorithm, i.e. the solving of the matrix which indicates the mapping from the target surface to the image surface has the correspondence problem of the calibration points. Through introducing the fiducial marker system, which includes defining the selection criteria of fiducial markers and analyzing their recognition rate from the environment and the wrong recognition rate from each other, an improved progress from extracting the calibration points to calculating their image coordinates and the formulas relative are given. Experimental result proves the algorithm is efficient and liable, and has a practical value for the small FOV in which indoor environments can be controlled.

Key words: camera calibration, fiducial marker, correspondence

中图分类号: 

• TP301.6