We propose a camera model for line-scan cameras with telecentric lenses. The camera model assumes a linear relative motion with constant velocity between the camera and the object. It allows to model lens distortions, while supporting arbitrary positions of the line sensor with respect to the optical axis. We comprehensively examine the degeneracies of the camera model and propose methods to handle them. Furthermore, we examine the relation of the proposed camera model to affine cameras. In addition, we propose an algorithm to calibrate telecentric line-scan cameras using a planar calibration object. We perform an extensive evaluation of the proposed camera model that establishes the validity and accuracy of the proposed model. We also show that even for lenses with very small lens distortions, the distortions are statistically highly significant. Therefore, they cannot be omitted in real-world applications.

中文翻译：

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带远心镜头的线扫描相机的相机模型

我们提出了一种用于带有远心镜头的线扫描相机的相机模型。相机模型假设相机和物体之间以恒定速度进行线性相对运动。它允许对镜头畸变进行建模，同时支持线传感器相对于光轴的任意位置。我们全面检查了相机模型的退化并提出了处理它们的方法。此外，我们检查了所提出的相机模型与仿射相机的关系。此外，我们提出了一种使用平面校准对象校准远心线扫描相机的算法。我们对提议的相机模型进行了广泛的评估，以建立所提议模型的有效性和准确性。我们还表明，即使对于镜头畸变非常小的镜头，畸变在统计上也非常显着。