相机模型及标定

相机模型

$$\begin{gathered} sm=A[R|t]M \\ \left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{ccc}{f}_x& 0& u_0\\ 0& f_y& v_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}{r}_{11}& r_{12}& r_{13}& t_1\\ r_{12}& r_{22}& r_{23}& t_2\\ r_{13}& r_{32}& r_{33}& t_3\end{array}\right]\left[\begin{array}{c}X\\ Y\\ Z\\ 1\end{array}\right] \end{gathered}$$

$$\left[\begin{array}{ccc}1& 2& 3\\ 4& 5& 6\end{array}\right]\text{\hspace{1em}(7)}$$
$x_{\mathrm{m}}$为测量输出，$x$为真值，$b$为零偏，$n$为速

$$\left[\begin{array}{cccc}{r}_{11}& r_{12}& r_{13}& t_1\\ r_{12}& r_{22}& r_{23}& t_2\\ r_{13}& r_{32}& r_{33}& t_3\end{array}\right]$$

相机标定