Single-chart self-calibration method of catadioptric omnibearing camera mirror plane pose

A technology of mirror surface and refraction, which is used in image analysis, image data processing, instruments, etc., and can solve the problem of difficulty in ensuring installation accuracy.

Inactive Publication Date: 2011-09-14
ZHEJIANG UNIV
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  • Application Information

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Problems solved by technology

However, the pose parameters between the mirror surface and the perspective camera are difficult to be guaranteed due to the limitation of installation accuracy.

Method used

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  • Single-chart self-calibration method of catadioptric omnibearing camera mirror plane pose
  • Single-chart self-calibration method of catadioptric omnibearing camera mirror plane pose
  • Single-chart self-calibration method of catadioptric omnibearing camera mirror plane pose

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] The catadioptric omnidirectional camera system consists of a perspective camera and a reflective mirror. figure 1 The technical flow of the catadioptric omnidirectional camera calibration method is given. The process includes two parts: the internal reference calibration of the perspective camera and the single-image self-calibration of the mirror pose. The single-image self-calibration of the mirror pose includes the following five parts: ① Obtain a clear omnidirectional image; ② Canny operator detection and ellipse fitting: use the Canny operator to detect the edge of the mirror surface and the camera lens in the image respectively For the imaging boundary of the edge, use the point sets composed of these two groups of elliptical imaging boundary pixels to fit the equations of two ellipses respectively; the two elliptic coefficients a...

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Abstract

The invention discloses a single-chart self-calibration method of a catadioptric omnibearing camera mirror plane pose, comprising the following steps: firstly, calculating to obtain two candidate poses by using an ellipse fit by image points on the outer edge of the mirror plane in a collected image; respectively generating two groups of predicted formed images of the edge of a perspective camera by the two candidate poses; and comparing the two groups of predicted formed images with a practical lens formed image, wherein a candidate pose corresponding to the predicated formed image with small difference is a practical mirror plane pose, and necessary distance between a camera projection center and a practical lens edge in the calibration process is obtained by using an optimized search method. By using the method, the deficiency of the existing calibration method is overcome; under the condition that the mirror plane parameter and the perspective camera parameter are known, a rotary matrix and a translation vector between a reflection mirror surface and the perspective camera can be estimated only by one self-shooting image of the catadioptric omnibearing camera without other calibration objects. The calibration method has the characteristics of strong anti-interference performance and higher precision and is simple to operate.

Description

technical field [0001] The invention relates to a parameter calibration method of an omnidirectional camera in the field of computer vision. Specifically, it is a method to obtain the pose parameters such as the rotation matrix and translation vector between the reflective mirror and the perspective camera in the catadioptric omnidirectional camera. Background technique [0002] Catadioptric omnidirectional cameras that can cover a 360-degree field of view in the horizontal direction make up for the shortcomings of traditional cameras with limited fields of view, and have been widely used in mobile robot navigation, video conferencing, distance education, video surveillance, and scene reconstruction. A catadioptric omnidirectional camera generally consists of an ordinary perspective camera and a reflective mirror. Their common feature is that the incident light from the object is first reflected by the mirror and then enters the perspective camera. [0003] The parameters ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 项志宇孙波
Owner ZHEJIANG UNIV
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