Method for calibrating intrinsic parameters of camera through parallelograms

A camera internal parameter, parallelogram technology, applied in image data processing, image analysis, instruments, etc., can solve the problems of high calibration conditions and lack of wide applicability.

Active Publication Date: 2014-10-08
WUXI PROFESSIONAL COLLEGE OF SCI & TECH
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AI Technical Summary

Problems solved by technology

These methods of using the image coordinates of the ring point to calibrate the internal parameters of the camera have high requirements for the calibration conditions and do not have wide applicability.

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  • Method for calibrating intrinsic parameters of camera through parallelograms
  • Method for calibrating intrinsic parameters of camera through parallelograms
  • Method for calibrating intrinsic parameters of camera through parallelograms

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Embodiment Construction

[0096] See figure 1 As shown, a method for calibrating internal parameters of a camera using a parallelogram is characterized in that it comprises the following steps:

[0097] (1) Use the camera to take three or more different poses, and shoot a parallelogram image in each pose;

[0098] (2) Determine the calibration scheme according to the number and positional relationship of parallelograms in the parallelogram image:

[0099] ①If the parallelogram image is two non-parallel parallelograms with equal internal angles and known internal angles, four vanishing points are obtained from four sets of parallel lines, and the known internal angles are obtained according to Laguerre's theorem Find the coordinates of two ring points with four vanishing points;

[0100] ②If the parallelogram image is two parallel parallelograms whose corresponding internal angles are known but not equal, three vanishing points are obtained from three sets of parallel lines, and according to Lague...

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Abstract

The invention relates to the field of computer vision measurement, in particular to a method for calibrating intrinsic parameters of a camera through parallelograms, wherein the method is used for building the relations between the image pixel positions of the camera and the positions of scenes. According to the method, calibrating requirements are low, use is flexible and convenient, and high applicability is achieved. The method comprises the following steps that (1) three or more poses are adopted for the camera, and a parallelogram image is taken in each pose; (2) according to the relations between the number and the positions of the parallelograms in each parallelogram image, a calibrating scheme is determined; (3) according to the different calibrating schemes in the step (2), the coordinates of a circular point of the image taken in each pose are obtained; (4) an equation set about the IAC is established, and linear solving is conducted; (5) Cholesky decomposition is conducted on an obtained absolute conic parameter matrix so that an inverse matrix of an intrinsic parameter matrix of the camera can be obtained, and the intrinsic parameter matrix of the camera can be determined through inversion.

Description

technical field [0001] The invention relates to the field of computer vision measurement and is used for establishing the relationship between camera image pixel positions and scene point positions, in particular to a method for calibrating camera internal parameters by using parallelograms. Background technique [0002] Camera calibration is an important issue in the field of machine vision research. It has been concerned by many researchers. The existing research results can be divided into three categories: traditional calibration methods, self-calibration methods and motion-based calibration methods. Traditional calibration methods need to use a precision-made calibration object (divided into three-dimensional, two-dimensional and one-dimensional) as a spatial reference object for camera internal parameter calibration. Self-calibration methods only use point correspondence information between images to obtain camera intrinsic parameters. The motion-based calibration met...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 王秀平白瑞林陈晶刘子腾
Owner WUXI PROFESSIONAL COLLEGE OF SCI & TECH
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