Epipolar rectification method for fish-eye stereo camera pair
A technology of stereo camera and fisheye camera, which is applied in the field of visual measurement, can solve the problems of affecting the matching result, not adapting to the mathematical imaging model of fisheye camera, and the error of image edge ratio, so as to reduce complexity, reduce possibility and improve efficiency Effect
Active Publication Date: 2011-06-01
BEIJING INST OF CONTROL ENG
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[0003] For a fisheye stereo camera with a large field of view, its epipolar line correction method is different from that of an ordinary small field of view stereo camera pair. The traditional epipolar line correction theory of a small field of view stereo camera pair is no longer suitable for the mathematics of fisheye cameras. Imaging model, if the imaging model of the fisheye camera is forcibly corrected to the perspective projection model, a large scale error will be generated at the edge of the image. According to the field of view of the fisheye camera, the largest part will have a ratio of more than 7 times There are errors that seriously affect the matching results
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[0021] The concept of polar lines as figure 1 as shown, figure 1 Represents a stereo image pair, the imaging of object space point P on photo 1 and photo 2 is p1 and p2 respectively, p1 and p2 are called corresponding image points; object space point P, projection center S1 and S2 are three points coplanar , the plane is called the epipolar plane of the object space point P, also called the polar plane; the intersection line (I1 and I2) of the epipolar plane and the image plane is called the epipolar line, also called the epipolar line.
[0022] Such as figure 2 Shown is the flowchart of the method of the present invention. The epipolar correction method of the fisheye stereo camera pair of the present invention mainly comprises the following steps: the calibration of the fisheye stereo camera pair; the establishment of the fisheye camera coordinate system and the image plane coordinate system; the establishment of the virtual camera coordinate system; the calculation of th...
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The invention discloses an epipolar rectification method for a fish-eye stereo camera pair, comprising the following steps: (1) calibrating two fish-eye stereo cameras; (2) respectively creating an image plane coordinate system, a fish-eye camera coordinate system, a virtual camera coordinate system and a virtual image plane coordinate system for the two fish-eye stereo cameras; (3) obtaining a rotation matrix of the virtual camera coordinate system under a left fish-eye camera coordinate system; (4) rectifying image points on the image plane by using internal parameters of the fish-eye camera obtained by calibration, and converting rectified image points of an f-theta fish-eye imaging model into image points of an f-theta pinhole imaging model; (5) for the two fish-eye stereo cameras, converting image coordinates of the pinhole imaging model into those under the virtual camera coordinate system by using the rotation matrix; (6) connecting the image points of the pinhole imaging model under the virtual camera coordinate system with the original point under the virtual image plane coordinate system, wherein intersection points of the connection lines and the virtual image plane are virtual image points after epipolar modification; and (7) comparing the virtual image points of the left camera and the right camera after epipolar modification to obtain a rectification result.
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technical field [0001] The invention belongs to the field of visual measurement and relates to an epipolar line correction method for a stereo camera pair. Background technique [0002] In the field of stereo vision research, stereo vision correction is also called epipolar correction. Its purpose is to make the corresponding epipolar line of the stereo image parallel to the horizontal direction and eliminate the parallax in the vertical direction, so that the stereo matching process can be faster. Accurately find corresponding points. [0003] For a fisheye stereo camera with a large field of view, its epipolar line correction method is different from that of an ordinary small field of view stereo camera pair. The traditional epipolar line correction theory of a small field of view stereo camera pair is no longer suitable for the mathematics of fisheye cameras. Imaging model, if the imaging model of the fisheye camera is forcibly corrected to the perspective projection mod...
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IPC IPC(8): G06T7/00
Inventor 李春艳王立梁潇卢欣张丽华范生宏范钦红
Owner BEIJING INST OF CONTROL ENG