摄像机

Main contents of the thesis include point and edge extraction based on least-squares template matching; space circle template matching and reconstruction; outlier detection and elimination with fundamental matrix and trifocal tensor; improvement of Homography-based calibration technique, 2D-DLT and bundle adjustment based non-metric camera calibration technique with planar-scenes, point-line hybrid photogrammetry and visual inspection.

本文的主要研究内容包括影像格网点与直线段的自动最小二乘模板匹配；基于物方直接解的空间圆匹配与重建；利用基本矩阵和三视张量进行观测值粗差的剔除；同形矩阵摄像机标定算法的改进；基于二维 DLT 和光束法平差的非量测数字摄像机标定；点、线混合摄影测量模型与视觉检测精度分析等。

In this approach, a homography matrix between the ground plane and the image plane is obtained by least square.

它首先利用地平面与图像中的对应点建立一个对应矩阵（homogra-phy），然后利用已知的摄像机高度以及地面上垂线在图像中的投影等约束信息来求取摄像机的参数。

The object matching on two image planes of the two cameras is achieved by homography relation educed from an approximate camera projective model.

利用由近似的摄像机投影模型导出的单应性关系，实现两个摄像机图像之间的目标匹配。

For our 2D drawing, we don't need to move the camera, and we don't want to move the world for now, so we'll use an identity matrix, which basically sets the camera and world in a default position.

为了我们的2D绘制，我们不需要移动摄像机，也不用想移动世界，所以我们将使用一个单位矩阵，将摄像机和世界放置在缺省的位置。

And based on the perspective mapping, we have got the arithmetic of inverse perspective mapping, which realizes getting the depth of the object through the single camera.

根据摄像机透视映射原理，进行逆换算从而得到逆透视映射，从而实现了利用单摄像机获取环境深度信息，简化了系统的结构，有效的实现了自主避碰导航。

Firstly,the cameras were calibrated high accurately,and the stereoscopic vision system model was established.Secondly,the 3D coordinates of the center of LED on the light-pen were achieved through matching the 2D images grabbed by the two cameras.Then,a series of the 3D coordinates of the center of LED were used for fitting straight line,and the 3D coordinates of the pen-points can be obtained from the line.

首先，对摄像机进行了高精度的标定，建立了双目立体视觉系统模型；其次，通过左右摄像机拍摄的二维图像，将两幅图像中的点进行匹配，获得光笔上的LED光斑中心三维坐标；然后，由一系列LED光斑中心的三维坐标拟合直线，从直线上得到笔尖的三维坐标。

The novelty of this new technique is that it can determine LINEARLY all the FIVE intrinsic parameters of the camera.

摘要提出了一种新的基于主动视觉系统的摄像机自定标方法，其主要特点是可以线性求解摄像机的所有5个内参数。

With the mapping transformation, the method converts the difficult target detection in MC-MT into the detection in the static camera-moving targets, which is researched more completely.

该方法首先利用映射变换将动摄像机和动目标模式下的目标检测问题转化为技术比较成熟的静摄像机和动目标模式下的目标检测，然后利用图像差分方法检测出被跟踪目标。

As a result, a camera may have a parent object that affects the camera's position and orientation.

所以一个摄像机可能有父节点影响摄像机的位置和方向。

In this paper, an analytic solution for the PSP problem with an uncalibrated four-parameter pinhole camera is proposed.

经典PnP问题是以摄像机内参已知为前提条件的，然而对未标定摄像机PnP问题的研究更具有实际意义。

Results showed that 0.01g/mL extract of Oxalis corniculata L. had obvious antimicrobial effect on S. aureus, but all extract of Oxalis corniculata L has not any antimicrobial effect on E.

结果表明，0.01g/ml的提取物对摇床培养的金黄色葡萄球菌生长具有明显的抑制作用；但各种浓度的提取物对摇床培养的大肠杆菌生长均无抑制作用。

This will be totally different from Zaro's texture mod, it will be desaturated, dirty etc.

这会和Zaro的那个材质补丁有很大不同，这边是更多的不饱和色，整个都灰扑扑的。