Aiming at the problem that the reference object is not in the field of view,a method with constraints of mirror cam-era to solve camera pose is proposed.The steps are:① Mirror camera pose is solved by using the method of camera pose esti-mation.② The linear constraint relationship between the pose of camera and single image mirror camera is constructed with mirror reflection symmetry.③ To establish constraints between multiple images,the mirror camera poses were multiplexed,18 linear constraints can be obtained using 3 images.This makes the accuracy of camera pose solution improved.Experiments show that:the errors of rotation matrix and translation vector are 0.009° and 1.866 mm respectively,and the corresponding er-rors are reduced by 0.009° and 2.292 mm on average,and has a strong adaptability.In real experiments,the average reprojec-tion error is 0.492 pixels.This suggests that the method in this paper is better than the comparison methods,and the pose of the camera where the reference object is not in the field of view can be accurately solved.
关键词
相机位姿/平面镜反射对称性/镜像相机/最小二乘
Key words
camera pose/mirror reflection symmetry/mirror camera/least squares
维普
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