Method for calibrating camera by adopting two same circles

A camera calibration and camera technology, applied in the field of camera calibration and autonomous navigation systems

Active Publication Date: 2010-01-06
NANTONG YIXUAN IND DESIGN CO LTD +1
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  • Abstract
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  • Claims
  • Application Information

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At present, the existing methods either assume that part of the internal parameter information is known, or must use oth

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  • Method for calibrating camera by adopting two same circles
  • Method for calibrating camera by adopting two same circles
  • Method for calibrating camera by adopting two same circles

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[0047] In order to better understand the present invention, the specific embodiments of the present invention will be further described below with reference to the accompanying drawings. The flowchart of the specific steps is as follows: figure 1 As shown, the specific steps of applying this method for camera calibration are as follows:

[0048] Step 1: First, develop calibration objects. Draw two identical circles or place two identical circular objects arbitrarily on a flat object. Note that two identical circles cannot be tangent. Take these two same circles that are not tangent as the calibration object.

[0049] Step 2: Place the calibration object evenly within the field of view of the camera, use the camera to shoot the calibration object from three different angles, and obtain three images of the calibration object with two elliptical images to ensure clear imaging.

[0050] Step 3: Perform the following operations on each calibration object image:

[0051] Step 3.1: Use the...

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Abstract

The invention relates to a method for calibrating a camera by adopting two same circles, which comprises the following steps: utilizing two non-tangent same circles as a calibration object, using the camera to shoot the calibration object from three angles to obtain three clear pictures, determining the equation of two elliptical images in each picture and obtaining coordinates of a pair of circle point images in each picture; determining internal parameters of the camera by utilizing the coordinates of the circle point images in the three pictures and the projection equation of an absolute secondary curve; obtaining internal common tangents and external common tangents of the two elliptical images in each picture; recovering and correcting an included angle between the internal common tangents of the two same circles in a world coordinate system; and finally obtaining external parameters of the camera according to established world coordinates of the internal common tangents and the external common tangents of the two same circles and image coordinates of the projection thereof. The invention can simply and accurately obtain the internal parameters and the external parameters of the camera and realize automatic calibration and also can be widely applied to non-contract type industrial detection and vision-based self-contained navigation systems.

Description

technical field [0001] The invention relates to a camera calibration method using two identical circles, which can accurately obtain the internal parameters and external parameters of the camera under the condition that all camera parameters are unknown. The invention belongs to the field of advanced measurement technology, and is especially suitable for camera calibration in computer stereo vision, non-contact industrial detection and vision-based autonomous navigation system. Background technique [0002] Camera calibration is the basis of computer vision, and it is widely used in computer vision, virtual reality and other computer image applications. Its main goal is to find the internal and external parameters of the camera. Calibration methods based on circular markers are widely used due to their easy acquisition, insensitivity to threshold segmentation, occlusion, and sub-pixel positioning accuracy. The literature (HEIKKILA J. "Geometric camera calibration using circ...

Claims

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Application Information

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IPC IPC(8): H04N17/00G06T7/00
Inventor 达飞鹏张虎
Owner NANTONG YIXUAN IND DESIGN CO LTD
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