A straight line in space linearly solves the internal parameters of the parabolic catadioptric camera

Abstract

The invention relates to a method to solve parabolic catadioptric camera parameters through one straight line in space. The method is that a calibration object composed of the straight line in the space is used for self-calibration of a parabolic catadioptric camera. Three images of the calibration object 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 calibration objects images are extracted from the images to respectively fit curvilinear equations. Images of circular ring points on image planes are obtained according to a polarity principle. Camera parameters are solved by utilizing the linear constraint of the images on the circular ring points on an image of an absolute conic. By utilizing the method, the calibration object 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 linear calibration object used for solving internal parameters of a parabolic catadioptric camera. A straight line in space is used as a calibration template, and the image of its circular point is obtained by using the properties of the quadratic curve, and the internal parameters of the parabolic catadioptric camera are determined linearly. 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...

AI Technical Summary

Problems solved by technology

The document "Plane-based calibration of central catadioptric cameras", (S.Gasparini, P.Sturm, J.P.Barreto, IEEE12th International Conference on Computer Vision, pp.1195-1202, 2009.) needs to use a two-dimensional template with control points, which can be corner points, drawing The point that goes up or any point that is easy to extract from the image, but this method needs to use an iterative method to solve the internal and external parameters

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