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Bundle Adjustment 光束法平差详解

于 2023-07-07 发布 文件大小:1.99 MB
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首先引述来自维基百科的定义:假设我们有一个3D空间中的点,他被位于不同位置的多个摄像机看到,那么所谓的光束法平差(Bundle Adjustment),就是能够从这些多视角信息中提取出3D点的坐标以及各个摄像机的相对位置和光学信息的过程。  可能这么说有点不够具体,我们用比较通俗的数学公式来描述这个过程:  问题提出:假设我们有一个3D空间中的一个点 Xj,他可以被多个位于不同角度的摄像机看到,设第i个摄像机看到的第j个点坐标为xij,由3D点像二维相机平面转换的矩阵为Pi. 我们现在考虑这样的问题,给出一系列的的坐标xij,找到相机转换矩阵Pi使得PiXj=xij.  请点击左侧文件开始预览 !预览只提供20%的代码片段,完整代码需下载后查看 加载中 侵权举报

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