Catadioptric camera self-calibration method based on generalized unified model

A catadioptric and self-calibration technology, which is applied in image data processing, instruments, calculations, etc., can solve problems such as inconvenient use

Inactive Publication Date: 2014-06-25
ZHEJIANG UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Although the calibration of the generalized unified model using the calibration board has high accuracy, it needs to place the calibration board at different positions in the scene, and manually extract the grid points of the calibration board in the image. In the scene where the catadioptric camera configuration often occurs, use more inconvenient

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  • Catadioptric camera self-calibration method based on generalized unified model
  • Catadioptric camera self-calibration method based on generalized unified model
  • Catadioptric camera self-calibration method based on generalized unified model

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Embodiment

[0150] In the test with real images, a catadioptric camera system manufactured by NEOVISION was used. It was originally a single-view catadioptric camera composed of H3S hyperbolic mirror and Sony XCD-SX910CR camera. The internal parameters of the perspective camera Sony XCD-SX910CR are: f x =1455.07,f y =1459.51,k s = 0, u 0 = 639.2, v 0 = 482.2. The resolution of the image is 1280×960, but the resolution is too large, resulting in a very slow processing speed, so the image resolution is reduced to 800×600, and the corresponding camera parameters become: f x =909.42,f y =912.2,k s = 0, u 0 = 399.5, v 0 = 301.38. The parameters of the mirror surface are: a=0.0281m, b=0.0234m, c=0.0366m, d=2c=0.0731m, In the case where the mirror and the camera form a single viewpoint model, the corresponding parameters of the unified spherical model are: ξ = d d 2 + ...

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Abstract

The invention discloses a catadioptric camera self-calibration method based on a generalized unified model. The method includes the following steps that a left catadioptric panorama and a right catadioptric panorama which are clearly imaged are acquired in different positions of the same scene through a catadioptric camera; SIFT feature points of the left catadioptric panorama and the right catadioptric panorama are extracted, and feature point matching is performed; internal parameters of the generalized unified model are initialized; an essential matrix E is calculated out through epipolar geometry, the accuracy is improved through RANSAC in the calculating process of E, and meanwhile external points are removed; the reprojection errors of the feature points are minimized through a nonlinear optimization LevenbergMarquardt method; the internal parameters are optimized continuously till the reprojection errors are smaller than preset threshold values, and the robustness and the accurate result are obtained through optimization. According to the method, the internal parameters of the generalized unified model and the relation between the two positions can be calibrated just through the two panoramas in different positions, calibration is performed fully automatically, and the method has the advantages of being convenient and fast to use, easy to operate and high in accuracy.

Description

technical field [0001] The invention relates to image data and a method for processing and analyzing, in particular to a self-calibration method for a catadioptric camera based on a generalized unified model. Background technique [0002] Traditional perspective cameras have a small field of view and are limited in some scenarios. With the advancement of image sensor technology and machine vision technology, the application of large field of view maps is becoming more and more extensive. The catadioptric camera is composed of a traditional perspective camera and a mirror, which can collect a panorama of a 360-degree field of view in the horizontal direction, and the system is simple in structure, with low power consumption and cost. By carefully designing different types of mirror surfaces, catadioptric camera systems with different characteristics can be formed, and spatial measurement information can be accurately obtained on this basis. Due to its large field of view an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 项志宇戴行周炎兵
Owner ZHEJIANG UNIV
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