论文标题
直接三角剖分，并带有全向相机的球形投影
Direct Triangulation with Spherical Projection for Omnidirectional Cameras
论文作者
论文摘要
在本文中，提议通过优化投影球上的射线对，以解决校准全向相机的三角剖分问题。所提出的解决方案归结为找到二次函数的根，因此与以前的方法相比，封闭形式是完全非题材和计算便宜的。此外，甚至认为动机显然是为了解决全向相机的三角剖分问题，也证明了所提出的方法可以应用于非运动，狭窄的视野摄像机。
In this paper, it is proposed to solve the problem of triangulation for calibrated omnidirectional cameras through the optimisation of ray-pairs on the projective sphere. The proposed solution boils down to finding the roots of a quadratic function, and as such is closed form, completely non-iterative and computationally inexpensive when compared to previous methods. In addition, even thought the motivation is clearly to solve the triangulation problem for omnidirectional cameras, it is demonstrated that the proposed methods can be applied to non-omnidirectional, narrow field-of-view cameras.
