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<!DOCTYPE html><html lang="zh-CN"><head><meta http-equiv="content-type" content="text/html; charset=utf-8"><meta content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=0" name="viewport"><meta content="yes" name="apple-mobile-web-app-capable"><meta content="black-translucent" name="apple-mobile-web-app-status-bar-style"><meta content="telephone=no" name="format-detection"><meta name="description"><title>浮生小记 | 路漫漫其修远兮 | 吾将上下而求索 | 咦，我为什么会这么菜呢？</title><link rel="stylesheet" type="text/css" href="/css/style.css?v=0.0.0"><link rel="stylesheet" type="text/css" href="//cdn.bootcss.com/normalize/6.0.0/normalize.min.css"><link rel="stylesheet" type="text/css" href="//cdn.bootcss.com/pure/0.6.2/pure-min.css"><link rel="stylesheet" type="text/css" href="//cdn.bootcss.com/pure/0.6.2/grids-responsive-min.css"><link rel="stylesheet" href="//cdn.bootcss.com/font-awesome/4.7.0/css/font-awesome.min.css"><script type="text/javascript" src="//cdn.bootcss.com/jquery/3.2.1/jquery.min.js"></script><link rel="Shortcut Icon" type="image/x-icon" href="/favicon.ico"><link rel="apple-touch-icon" href="/apple-touch-icon.png"><link rel="apple-touch-icon-precomposed" href="/apple-touch-icon.png"></head><body><div class="body_container"><div id="header"><div class="site-name"><h1 class="hidden">浮生小记</h1><a id="logo" href="/.">浮生小记</a><p class="description">路漫漫其修远兮 | 吾将上下而求索 | 咦，我为什么会这么菜呢？</p></div><div id="nav-menu"><a href="/." class="current"><i class="fa fa-home"> 首页</i></a><a href="/archives/"><i class="fa fa-archive"> 归档</i></a><a href="/about/"><i class="fa fa-user"> 关于</i></a><a href="/atom.xml"><i class="fa fa-rss"> 订阅</i></a></div></div><div id="layout" class="pure-g"><div class="pure-u-1 pure-u-md-3-4"><div class="content_container"><div class="post"><h1 class="post-title"><a href="/2017/06/24/2017-06-24/">双目测距的数学原理</a></h1><div class="post-meta">2017-06-24</div><a data-disqus-identifier="2017/06/24/2017-06-24/" href="/2017/06/24/2017-06-24/#disqus_thread" class="disqus-comment-count"></a><div class="post-content"><p>双目测距，即利用两个图像传感器，固定两个传感器之间的距离，利用三角测量来计算物体与图像传感器之间的距离。在此将这个过程从数学角度推导一遍，以加深理解。</p>
<h3 id="坐标系转换">坐标系转换</h3>
<p>当有坐标系之间转换的基础知识的时候，双目测距的数学原理也就很好理解。</p>
<p>由相机坐标系到图像坐标系的转换关系： <span class="math display">\[</div><p class="readmore"><a href="/2017/06/24/2017-06-24/">阅读全文</a></p></div><div class="post"><h1 class="post-title"><a href="/2017/05/13/2017-05-13/">相机标定</a></h1><div class="post-meta">2017-05-13</div><a data-disqus-identifier="2017/05/13/2017-05-13/" href="/2017/05/13/2017-05-13/#disqus_thread" class="disqus-comment-count"></a><div class="post-content"><h2 id="概要">概要</h2>
<p>相机标定的目的是通过像素点与三维空间点的对应关系，像素点在两张图像中的对应关系，求出相机内参，以及畸变参数，以及两张照片间的旋转矩阵和平移向量。</p>
<h2 id="数学原理">数学原理</h2>
<h3 id="直接线性变换">直接线性变换</h3></div><p class="readmore"><a href="/2017/05/13/2017-05-13/">阅读全文</a></p></div><div class="post"><h1 class="post-title"><a href="/2017/04/14/2017-04-14/">四个坐标系间转换</a></h1><div class="post-meta">2017-04-14</div><a data-disqus-identifier="2017/04/14/2017-04-14/" href="/2017/04/14/2017-04-14/#disqus_thread" class="disqus-comment-count"></a><div class="post-content"><h2 id="概要">概要</h2>
<p>在视觉里程计问题中，如何把图像中的像素点转化成世界坐标系下的真实点，通过真实点之间的关系来计算机器人或者相机的姿态，坐标系间的转换是基本问题。这四个坐标系分别是：</p>
<ul>
<li><p>世界坐标系(<span class="math inline">\(X_w,Y_w,Z_w\)</span>)，用来描述点在现实世界中的坐标。</p></li></div><p class="readmore"><a href="/2017/04/14/2017-04-14/">阅读全文</a></p></div><div class="post"><h1 class="post-title"><a href="/2017/04/10/2017-04-10/">单目视觉里程计算法流程</a></h1><div class="post-meta">2017-04-10</div><a data-disqus-identifier="2017/04/10/2017-04-10/" href="/2017/04/10/2017-04-10/#disqus_thread" class="disqus-comment-count"></a><div class="post-content"><h2 id="视觉里程计">视觉里程计</h2>
<p>通过处理摄像头采集的连续帧的图像来确定摄像头/机器人的位姿，也即6DOF。</p>
<p>用一个摄像头的是单目视觉里程计，两个的叫双目。单目里程计可以用来确定机器人运动的大致轨迹，而双目里程计可以进行深度信息的测量，因此可以较为精确地测量出移动的距离。但是如果双目里程计的两个摄像头之间的baseline比较小，对于远处的物体，双目也就相当于单目。</p></div><p class="readmore"><a href="/2017/04/10/2017-04-10/">阅读全文</a></p></div><script id="dsq-count-scr" src="//onirii.disqus.com/count.js" async></script></div></div><div class="pure-u-1-4 hidden_mid_and_down"><div id="sidebar"><div class="widget"><form action="//www.google.com/search" method="get" accept-charset="utf-8" target="_blank" class="search-form"><input type="text" name="q" maxlength="20" placeholder="Search"/><input type="hidden" name="sitesearch" value="https://dhphub.github.io"/></form></div><div class="widget"><div class="widget-title"><i class="fa fa-folder-o"> 分类</i></div><ul class="category-list"><li class="category-list-item"><a class="category-list-link" href="/categories/vision/">视觉</a></li></ul></div><div class="widget"><div class="widget-title"><i class="fa fa-star-o"> 标签</i></div><div class="tagcloud"><a href="/tags/vision/" style="font-size: 15px;">vision</a> <a href="/tags/algorithm/" style="font-size: 15px;">algorithm</a> <a href="/tags/mathematics/" style="font-size: 15px;">mathematics</a></div></div><div class="widget"><div class="widget-title"><i class="fa fa-file-o"> 最近文章</i></div><ul class="post-list"><li class="post-list-item"><a class="post-list-link" href="/2017/06/24/2017-06-24/">双目测距的数学原理</a></li><li class="post-list-item"><a class="post-list-link" href="/2017/05/13/2017-05-13/">相机标定</a></li><li class="post-list-item"><a class="post-list-link" href="/2017/04/14/2017-04-14/">四个坐标系间转换</a></li><li class="post-list-item"><a class="post-list-link" href="/2017/04/10/2017-04-10/">单目视觉里程计算法流程</a></li></ul></div><div class="widget"><div class="widget-title"><i class="fa fa-comment-o"> 最近评论</i></div><script type="text/javascript" src="//onirii.disqus.com/recent_comments_widget.js?num_items=5&hide_avatars=1&avatar_size=32&excerpt_length=20&hide_mods=1"></script></div><div class="widget"><div class="widget-title"><i class="fa fa-external-link"> 友情链接</i></div><ul></ul><a href="https://needer28.github.io/" title="时蛮蛮" target="_blank">时蛮蛮</a><ul></ul><a href="https://Beprominent.github.io/" title="Beprominent" target="_blank">Beprominent</a><ul></ul><a href="http://www.cnblogs.com/1oner/" title="1oner" target="_blank">1oner</a></div></div></div><div class="pure-u-1 pure-u-md-3-4"><div id="footer">Copyright © 2017 <a href="/." rel="nofollow">浮生小记.</a> Powered by<a rel="nofollow" target="_blank" href="https://hexo.io"> Hexo.</a><a rel="nofollow" target="_blank" href="https://github.com/tufu9441/maupassant-hexo"> Theme</a> by<a rel="nofollow" target="_blank" href="https://github.com/pagecho"> Cho.</a></div></div></div><a id="rocket" href="#top" class="show"></a><script type="text/javascript" src="/js/totop.js?v=0.0.0" async></script><script type="text/javascript" src="//cdn.bootcss.com/fancybox/3.0.47/jquery.fancybox.min.js" async></script><script type="text/javascript" src="/js/fancybox.js?v=0.0.0" async></script><link rel="stylesheet" type="text/css" href="//cdn.bootcss.com/fancybox/3.0.47/jquery.fancybox.min.css"><script type="text/javascript" src="/js/codeblock-resizer.js?v=0.0.0"></script><script type="text/javascript" src="/js/smartresize.js?v=0.0.0"></script></div></body></html>