Solving parabolic catadioptric camera parameters through two intersected straight lines in space

Abstract

The invention relates to a method to solve parabolic catadioptric camera parameters through two intersected straight lines in space. The method is that a target (a calibration object) composed of the two intersected straight lines in the space is used for self-calibration of a parabolic catadioptric camera. Three images of the target are shot by the parabolic catadioptric camera from different directions. A parabolic catadioptric image of a straight line is a quadric curve. Boundary pixel point coordinates and image point coordinates of the three target images are extracted from the images to respectively fit curvilinear equations. Images of disappeared points on image planes along the orthogonal direction are obtained according to that images of harmonic conjugates and two parallel straight lines are intersected to one point. Camera parameters are solved by utilizing the linear constraint of the images on the orthogonal direction on an image of an absolute conic. By utilizing the method, the target can be fully and automatically calibrated, and errors caused by measurement in the calibration process are reduced. Because a straight line is a more concise and more global element, calibration precision of the camera in the calibration process is improved.

Description

technical field [0001] The invention belongs to the field of computer research and relates to a straight line template for solving internal parameters of a parabolic catadioptric camera. Using two intersecting straight lines in space as a calibration template, using the image of the vanishing point in the orthogonal direction, linearly determine the internal parameters of the parabolic catadioptric camera. 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 parame...

AI Technical Summary

Problems solved by technology

The document "Plane-based calibration of central catadioptric cameras", (S.Gasparini, P.Sturm, J.P.Barreto, IEEE 12th International Conference on Computer Vision, pp. 1195-1202, 2009.) uses two-dimensional template, these control points can be corner points, drawn points, or any points that are easily extracted from the image, but this method requires an iterative method to solve the internal and external parameters

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