Method for solving intrinsic parameters of camera by using three non-concentric circles

Abstract

The invention relates to a method for marking intrinsic parameters of a camera by solving an image of a circular point, wherein the image of the circular point is solved by solving a plane vanishing line by using any three non-concentric circles on a plane and by using centers of the three non-concentric circles. According to the method for solving the intrinsic parameters of the camera by using the three non-concentric circles, three images are shot in different directions by a target, image curves of the three circles on each image and coordinates of the images of each three centers are extracted, a homogeneous coordinate of the plane vanishing line is obtained by using relation of a pole and a polarline formed by the centers and the vanishing line according to the theory of the pole and the polarline and through solving three simple linear equations, the image of the circular point is solved by solving an intersection point between the vanishing line and the image of any of the three circles, and then the five intrinsic parameters of the camera is determined by building a constraint equation about the intrinsic parameters of the camera by using the image of the circular point. Due to the fact that a curve of the second degree is a simple and an overall element, solving the vanishing line by fitting the curve of the second degree is higher in stability than solving the vanishing line by fitting a point and a plane. The method for solving the intrinsic parameters of the camera by using the three non-concentric circles is high in application value.

Description

technical field [0001] The invention belongs to the field of computer research and relates to three two-by-two non-concentric circle targets used for solving camera internal parameters. Using any two non-concentric circles with known centers in the scene, by solving the equations of the disappearing lines on the three images, and then determining the coordinates of the images of the circle points, the internal parameters of the camera are determined. Background technique [0002] The research purpose of computer vision theory is to restore the geometric structure of the visible surface of a three-dimensional object from a two-dimensional image, a process called three-dimensional reconstruction. The relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image is determined by the geometric model of the camera imaging. These geometric model parameters are the camera parameters, and the proces...

AI Technical Summary

Problems solved by technology

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.) proposed a planar calibration method, which is an intermediate It is a method between the traditional calibration method and the self-calibration method. I

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