Camera intrinsic parameters determined by utilizing projected coordinate and epipolar line of centres of circles

Abstract

The invention relates to a target for determining camera intrinsic parameters. The target is characterized in that the target is composed of at least three centers of any non-concentric circles in a plane, and the specific steps comprises estimating coordinates of images of the centers of the circles, and estimating vanishing line of the images in the plane by utilizing polarity principle to realize a linear method for camera intrinsic parameters. According to the target for determining the camera intrinsic parameters, three images are taken for the target from different directions, curvilinear equation for each image is extracted, the images of the centers of the circles and equations of the vanishing line on the images are figured out, intersections between the vanishing line and the images of the circles are images of ring points, constraint equations for the images of the ring points, which is related to the camera intrinsic parameters, are established, and matrix for the camera intrinsic parameters of is linearly solved. The target disclosed in the invention can be utilized to realize full-automatic calibration, so that errors caused by measurement in the calibration process are reduced. A quadratic curve is a more simple and globalized element, thereby improving the precision in the calibration process.

Description

technical field [0001] The invention belongs to the field of computer research, and relates to a known concentric circular target used for solving internal parameters of a camera. Using the centers of any number of different circles in the scene, the internal parameters of the camera are determined linearly by solving the image coordinates of the circle points on the three images. Background technique [0002] One of the basic tasks of computer vision is to restore the geometric information of objects in three-dimensional space from the two-dimensional image information obtained by the camera, so as to recognize and reconstruct the geometric shape of objects in three-dimensional space. In this process, the relationship between the three-dimensional geometric position of the spatial object point and its corresponding point in the image must be determined, and this relationship is determined by the geometric model of the camera imaging, and the parameters of these geometric mo...

AI Technical Summary

Problems solved by technology

[0003] Although the traditional camera calibration method can obtain high precision, it is difficult to make the calibration block and it is not easy to operate

Aiming at this problem, the document "A flexible new technique for camera calibration", (Zhengyou Zhang, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no. 11, pp. 1330-1334, 2000.) proposes a planar template Instead of the traditional calibration block method, this method is simple, convenient, low cost, and can obtain high precision, but it needs to accurately locate the physical coordinates of the dot matrix on the template

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