利用对应直线求取摄像机外部参数

通过对解空间的分布，发现摄像机外部姿态参数中旋转矩阵的解分布于一半径固定的超球面上，且此超球面的维数可由方程组的系数矩阵确定。据此提出了在全空间中求取全解的搜索策略。实验表明，用本算法所得到的结果与理论分析相吻合，能够较好地解决参数求取过程中的完全解问题。

Deriving Extrinsic Parameters of Camera from Line Correspondences

The strategy to derive the extrinsic parameters of camera from line correspondences was discussed. Based on the analysis of the solution space, it was found that the elements of its rotation matrix distribute over a hyper sphere, the radius and dimension of which can be determined by the coefficient matrix of the equation system. From this conclusion, a searching strategy in this space was proposed. The experimental result shows its accordance with the theoretical analysis. Our algorithm is therefore proved to be able to work out the entire solutions.