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Method for calibrating camera by utilizing concentric circles

A technology of camera calibration and concentric circles, which is applied in the field of image processing and can solve the problems of large influence of noise and complicated methods.

Inactive Publication Date: 2012-04-25
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The biggest shortcoming of the existing circle-based calibration method is that it is required to take a virtual circle point, which is greatly affected by noise, and some methods are also relatively complicated.

Method used

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  • Method for calibrating camera by utilizing concentric circles
  • Method for calibrating camera by utilizing concentric circles
  • Method for calibrating camera by utilizing concentric circles

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Embodiment Construction

[0018] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0019] like figure 1 Shown is a schematic diagram of the projection of the calibration object template used in this embodiment on the image plane. figure 1 Among them, OXYZ is the camera coordinate system, O w x w Y w Z w is the world coordinate system, and ouv is the image coordinate system. R and t represent the rotation matrix and translation vector between the camera coordinate system and the world coordinate system, respectively, where

[0020] R=[r 1 r 2 r 3 ], r i , i=1, 2, 3 represent each column of R.

[0021] The specific implementation process of this embodiment is as follows:

[0022] 1. F...

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Abstract

The invention discloses a method for calibrating camera by utilizing concentric circles, and belongs to the technical field of image processing, which comprises the following steps: pasting white paper on a horizontally even panel to prepare a calibration object; acquiring three initial images; fitting according to an elliptical point set to obtain an elliptical image matrix; and obtaining a projection equation of a circle by adopting projective transformation, calculating circle center projection of two concentric circles according to a correlation of a projection equation of the concentric circles, and obtaining a symmetrical matrix according to the circle center projection so as to obtain an internal parameter matrix of the camera and complete the internal parameter calibration of the camera. The method avoids an error caused by a mode that the internal parameters of the camera are determined by calculating imaginary circular points, and a linear method is adopted to simply, conveniently and accurately calibrate all the internal parameters of the camera (including a principal point position, an aspect ratio and an obliquity factor). The method is suitable for vision-based autonomous navigation system and non-contact industrial detection.

Description

technical field [0001] The invention relates to a method in the technical field of image processing, in particular to a method for calibrating a camera by using concentric circles. Background technique [0002] Camera calibration is mainly used to estimate the intrinsic and extrinsic parameters of the camera. At present, camera calibration methods can be divided into four categories based on the physical form of calibration objects: calibration based on three-dimensional calibration objects, calibration based on two-dimensional calibration objects, calibration based on one-dimensional calibration objects, and calibration without calibration objects, that is, self-calibration. Among them, the two-dimensional calibration object, that is, the plane template, is widely used because of its convenient application, low cost, and high calibration accuracy, such as checkerboards and circles. Among them, because the detection of circle features is relatively easy and has high robustn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 马文娟申抒含王宸昊刘允才
Owner SHANGHAI JIAO TONG UNIV
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