Method for calibrating parameters in camera through solving circular ring points by utilizing regular tetrahedron

A technique of regular tetrahedron and ring point, applied in the field of camera calibration

Inactive Publication Date: 2011-06-22
YUNNAN UNIV
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  • Method for calibrating parameters in camera through solving circular ring points by utilizing regular tetrahedron
  • Method for calibrating parameters in camera through solving circular ring points by utilizing regular tetrahedron
  • Method for calibrating parameters in camera through solving circular ring points by utilizing regular tetrahedron

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[0049] The present invention proposes a method for solving the parameters of the camera by using a space regular tetrahedron target. figure 1 As shown, the principle of triangular imaging image and solving plane ring point image coordinates is as follows figure 2 Shown.

[0050] The following uses an example to describe the implementation of the present invention in more detail:

[0051] The tetrahedral target used for calibration is a regular tetrahedron with arbitrary edge length, such as image 3 Shown. In the example of the present invention, the edge length of the tetrahedron is set to 30cm, the point B is taken as the origin of the coordinate system, and the straight line where BC is located and the straight line perpendicular to each other are taken as the x-axis and the z-axis on the plane where the triangle BCD is located. The planes are perpendicular to each other and the straight line is the y-axis, and the right-hand rectangular coordinate system B-xyz is established,...

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Abstract

The present invention relates to a method for camera calibration through solving circular ring points image coordinates by utilizing a space regular tetrahedron. The method comprises the following steps: shooting an image containing 3 visible faces or shooting two images each containing 2 visible faces of a calibrating block; extracting a summit of each edge on the image and an image coordinate of each characteristic point on the image; determining vanishing point coordinates on the straight lines where the sides of triangles on each face are located; solving the image coordinates of circularring points on each face by utilizing the converse theorem of Laguerre theorem; establishing a constraint equation in regard to parameters in a camera by virtue of circular ring point images; and solving the parameters in the camera, including main point coordinates of the camera, effective focal length and inclination factors, by means of linear algorithms. The method for solving parameters calibrated in a camera through circular ring points by utilizing a regular tetrahedron provided by the present invention can solve all the parameters in a camera by means of linear algorithms according toan image. Utilizing a calibrating block of the present invention can realize automatic calibration and reduce the error caused by a measurement during the calibration process. At the same time, due to the stability of triangles, calibration precision can be improved during the calibration process of the camera.

Description

Technical field [0001] The invention belongs to the field of computer vision, and is a new method for camera calibration by using a regular tetrahedral target to solve the image coordinates of a circle point. Background technique [0002] Three-dimensional reconstruction is one of the main research directions of computer vision. It is the process of restoring the geometric information of the object in the three-dimensional space from the two-dimensional image information obtained from the camera, so as to recognize and reconstruct the geometric shape of the object in the three-dimensional space . In this process, the relationship between the three-dimensional geometric position of the space object point and the corresponding point in the image must be determined, and this relationship is determined by the geometric model of the camera imaging. The parameters of these geometric models are the camera parameters. Under these conditions, these parameters are obtained through experim...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 赵越王慧胡晓华
Owner YUNNAN UNIV
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