中文摘要：

针对高速低分辨率相机和高分辨率相机构成的混合相机系统，提出基于空间约束的多分辨率相机标定方法．采用空间距离尺度作为统一各坐标系之间的度量单位，建立单相机内外参数模型和多相机相对外部参数模型．采用先单相机标定内部参数后多相机联合标定相对外部参数的方法完成混合相机的标定．首先使用2步法对每个相机进行内、外部参数标定，然后将这些参数作为初始值求解多相机标定模型．利用多个相机之间的空间约束，设计了相对外部参数的6步求解算法．实验表明该方法具有较高的稳定性和标定精度．

英文摘要：

A multi-camera calibration technology based on space restraint is proposed to calibrate a multi-resolution hybrid camera sys- tem which is composed by high-speed low-resolution cameras and high-resolution camera. Space distance scale is adapted to unify the coordinate system of each camera. We present an intrinsic and external parameter model of single camera and a relative external pa- rameter model of hybrid camera system which uses space distance scale to unify the coordinate system of each camera. Intrinsic and external parameters of each camera are calibrated using 2-step method separately. Then as the initial parameters, these parameters are used for solving the multi-camera calibration model. We present a 6-step algorithm based on space restraint to solve the external pa- rameters of multi-camera. The experiments show the method has good stability and precision.