2A1-J01 駆動鏡面式高速視線制御光学系を用いた高精度計測のための光学パラメータ推定(ロボットビジョン(1))

Abstract

An optical system which can control its gaze faster than a previous method of actuating a camera itself has been rearized by actuating mirrors in front of the camera. If we use the optical system for measurement, we need to know precisely optical parameters such as a optical center of the camera, but it is generally difficult to measure them exactly. In this paper, we define the optical parameters of this optical system, and propose a bundle adjustment method in this optical system to estimate the parameters. Defining projection matrices in several different designated gaze directions only by the optical parameters, a nonlinear minimization problem of reprojection error in this bundle adjustment becomes smaller than treating postures and positions in all images as unknown, and we can get the interesting parameters explicitly without decomposing the optimized projection matrices. The experimental results in simulation show that almost all parameters converge to true values nearer than initial values.