Linear solving of video camera internal parameters by utilizing two intersected same circles and common tangent

Abstract

The invention relates to linear solving of video camera internal parameters by utilizing two intersected same circles and a common tangent, and the method is a drone composed of two intersected same circles and the common tangent and used for calibrating video cameras. The drone is shoot for six images from different directions; elliptic equations and characteristic points are extracted from the images, and intersection point of two ovals are solved; vanishing points on image planes at the orthogonal direction is obtained according to perpendicular bisector of circle center line segment connecting the two circles and the common tangent of the two intersected circles and cross ratio of collinear four points; and the video camera internal parameters are performed with linear solving by utilizing the vanishing points at the orthogonal direction and restraint of images of an absolute conic. By utilizing the drone, full-automatic calibration can be achieved, and error caused by measurement during the calibration process is reduced. Circle is an element which is more concise and global, and accordingly calibration accuracy is improved during the calibration process.

Description

technical field [0001] The invention belongs to the field of computer research and relates to two intersecting same circles and a common tangent target used for solving internal parameters of a camera. Using any two intersecting same circles and common tangents on the plane as a calibration template, the internal parameters of the camera are linearly determined by solving the common chord line of the circles on the six images and the orthogonal blanking point coordinates of the straight line passing through the centers of the two circles . 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 correspondin...

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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