摘 要数码相机定位在电子警察（交通监查）丶产业控制和军事等实际生活中有普遍的应用。本文对数码相机定位问题运用的是双目定位方法，我们深入研究并准确确定了两部相机相对位置的问题，对相机成像原理进行分析，然后假设数码相机严格遵循小孔成像原理工作，不考虑数码相机成像畸变对实验的影响，最后给出准确定位圆心的像与建立相机标定的数学模型。86257

首先用严谨的数学知识来进行论证，然后通过推导得出结论:圆心的像在两个靶圆的像的外公切线和该圆上两切点的连线一一对应。为了准确确定圆心的像坐标，靶标上最少要有3个圆。

我们对不相同的3个圆的像选择不相同圆心的像坐标，根据这些不相同的组合得出3个像坐标，这3个像坐标就是圆心的像在切点修正前后的像坐标。把修正前的坐标的离散程度和修正后的进行对比和检查，我们会看到较密集的是修正后的像坐标，从而得到了一个结论:如果我们把切点进行修正，那么可以减小误差。对三个像横、纵坐标取平均值，得出下面图表中五个像心坐标。

Oa（-49。99，  51。18，417。  20） Ob（-23。69，  49。15，417。  20） Oc（34。04， 44。65，417。  20）

Od（19。48，-31。  56，417。20  ） Oe（-59。90，-31  。70，417。20  ）

利用给定的靶标上的圆心，然后改变圆的半径，画出许多同心圆，这样也会改变圆心的像坐标，所以我们的验证方法就是改变同心圆的半径，然后得到这些圆的圆心的像坐标，根据最小二乘法，让一个点离像坐标的距离的平方和最小，这个点在像平面上确定，根据这个点，对模型的稳定性和精确度进行分析与验证。

我们通过数学知识推出图像与数码相机的变换关系，然后利用解线性方程组，准确得出世界坐标系的原点和数码相机之间的相对位置，最后得出两个数码相机之间的相对位置。

毕业论文关键词：精确定位  切点修正  相机标定

Abstract Digital camera positioning in electronic police, traffic monitoring, industrial control, military and other real life has universal application。 The graduation thesis on the positioning of a digital camera using is binocular location method, our in-depth study and accurately determine the two camera relative position, we to the camera imaging principle were analyzed, and assuming that the digital camera strict pinhole imaging principle in accordance with, without considering the digital camera imaging distortion on the effect of, like finally accurately locate the center of the circle and the establishment of the camera calibration of the mathematical model, we can successfully solve the problem of digital camera location, these two problems is the key point of solving。

First with rigorous mathematical knowledge to demonstrate and followed by hypotheses are derived and obtained final conclusion, the center like two target round like the external common tangent and tangent point on the circle of connection in one-to-one correspondence, such that: in order to accurately determine the center of the image coordinates, target at least have three circles。 Finally, on the basis of have cut-off points were corrections are derived after three round like before and after the amendment of the general algorithm。 Through calculating and draw the coordinate representation of detailed。

We are not the same three round like chose not to the same center of image coordinates, according to different combinations of these draw three image coordinates, the three coordinate is the center of a tangent correction and image coordinates。 The coordinates of the modified discrete degree and amendment after the inspection and comparison, we will see more intensive corrected image coordinates, so as to get the conclusion -- if the cut-off points were modified, you can reduce the error。 On three like transverse, longitudinal coordinate averaged obtained in the chart below five each image coordinates in the images。