12.07.2015 Views

摄相机标定 - 模式识别国家重点实验室- 中国科学院自动化研究所

摄相机标定 - 模式识别国家重点实验室- 中国科学院自动化研究所

摄相机标定 - 模式识别国家重点实验室- 中国科学院自动化研究所

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Kruppa 方 程xxTlTrCxCxlr==00对 偶llTlTrωωlllr==00l l ×≈ [ e]x,x 为 位 于 l l 上 的 任 意 一 点 , 则 ,l r≈ Fx则xTT[ e]ω[e]x = 0, x F ωFx=× ×TT0则T[ e]ω [ e] = λF× ×TωFω = KKT

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