Method for linearly solving intrinsic parameters of camera by aid of three tangent circles

A technology of camera internal parameters and circular targets, which is applied in the field of computer research and can solve problems such as inconvenient operation and difficulty in making calibration blocks

Inactive Publication Date: 2013-03-27
YUNNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 ...

Method used

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  • Method for linearly solving intrinsic parameters of camera by aid of three tangent circles
  • Method for linearly solving intrinsic parameters of camera by aid of three tangent circles
  • Method for linearly solving intrinsic parameters of camera by aid of three tangent circles

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Embodiment

[0043] The invention proposes to use any three circumscribed or inscribed circles on the plane to linearly determine the target of the internal parameters of the camera. Without loss of generality, the experimental module structural schematic diagram that the present invention adopts is as follows figure 1 shown. Embodiment of the present invention is described in more detail with an example below:

[0044] The experimental module used in the camera calibration method based on three tangent circles is any three circumscribed or inscribed circles on the plane. Without loss of generality, we use figure 1 The three circumscribed circles shown serve as calibration templates. Q 1 , Q 2 , Q 3 Be three circumscribed circles, A, B, and C are tangent points, utilize the method among the present invention to carry out calibration for the video camera of experiment, concrete steps are as follows:

[0045] (1) Fitting the projection curve equation of the circle in the image

[00...

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Abstract

The invention relates to a method for calibrating a camera by means of solving two vanishing points in orthogonal directions by the aid of three externally or internally tangent circles on a plane. The method includes that three images are taken for a target from different directions, equations of various curves on the images and coordinates of tangent points of the images are extracted, projection coordinates of centers of the various circles are solved, a corresponding point of an image of each tangent point relative to an image of each circle center on a projection curve and a tangent line of the image of the tangent point and the corresponding point relative to the projection curve are solved, and the two vanishing points in the orthogonal directions are solved according to a principle of cross-ratio invariance and intersection points of the tangent lines; and the two vanishing points in the two orthogonal directions on the three images are computed, constraint equations of intrinsic parameters of the camera are established, and the five intrinsic parameters of the camera are linearly solved. The method has the advantages that full-automatic calibration can be realized owing to the target, and errors caused by measurement in a calibration procedure are reduced; and as the quadratic curves are concise and comprehensive elements, the calibration precision is improved in the camera calibration procedure.

Description

technical field [0001] The invention belongs to the field of computer research, and relates to three tangent circular targets used for solving internal parameters of a camera. Using any three mutually circumscribed circles or two circumscribed and inscribed circles as a calibration template, the internal parameters of the camera are determined linearly by solving the vanishing points in the orthogonal direction 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 came...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 赵越陈旭
Owner YUNNAN UNIV
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