Method for inferring intrinsic parameters of camera by utilizing bimirror device and Laguerre theorem

Abstract

The invention discloses a method used for camera self-calibration by utilizing two rectangular plane mirrors, wherein the two plane mirrors are vertical to a plane formed by bottom edges of the two plane mirrors. The method comprises the following specific steps of shooting three images including an object and four images of the object, formed in the plane mirrors; extracting feature points from the images; acquiring end points of the plane mirrors in a normal direction by utilizing the plane mirror imaging principle; acquiring end points of the two plane mirrors in a mirror plane direction by utilizing the property of cross ratio; finally, acquiring images of circular points according to the deduction of the Laguerre theorem; establishing six groups of constraint equations of the images of the circular points to absolute conic images by utilizing the three images; and linearly solving the intrinsic parameters of a camera.

Description

technical field [0001] The invention belongs to the field of computer vision research, and relates to a new method for solving the internal parameters of a camera, which utilizes the particularity of imaging formed by two plane mirrors forming a certain angle, and solves the coordinates of the circular point images on the three images , linearly determine the internal parameters of the 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 parameters of these...

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. To solve 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.) proposed a method to replace the traditional calibration block with a flat template. The physical coordinates of the lattice on the positioning template, because the ring point is a simpler and more global primitive, which can further improve the stability of the method, so it is widely used to solve the calibration problem with the ring point, the literature "A New Easy Camera Calibration Technique Based on Circular Points, 2002, vol.13, pp.957-965." is to use the attributes of circular points to calculate the internal parameters of the camera from a single projected image.

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