Planar catadioptric camera internal parameter solving method based on spatial parallel circles

Abstract

The invention relates to a planar catadioptric camera internal parameter solving method based on spatial parallel circles. The camera internal parameters are solved according to the properties of linearity of the spatial parallel circles in a planar catadioptric system. The device comprises two rectangular planar mirrors and one pinhole camera, and spatial points and reflection image points of the planar mirrors are on the same spatial circle; the two spatial parallel circles are provided with four crossed conjugate imaginary intersection points which are circular points of two conjugate complex points collinear to the infinity of the plane where the spatial parallel circles located. Three images including an object and four reflected images in the planar images are captured, two groups of feature points are extracted and quadric curves are fitted, and one vanishing point of an image plane is solved through the symmetry of a reflecting point group about the planar mirrors. Two groups of conjugate imaginary intersection points of the quadric curves are solved through the image plane, the image coordinates of the circular points is acquired according to the collinearity of the circular points and the vanishing point, the limitation of an image of the circular points corresponding to an absolute quadric curve image is established, and the camera internal parameters are solved in a linear manner.

Description

technical field

[0001] The invention belongs to the field of computer vision research and relates to a new method for solving camera internal parameters based on space parallel circles. Because there is an internal reflection between two plane mirrors at a certain angle, the space point can form four virtual images in the double plane mirror device, and the space point together with its four reflection virtual images are on the same circle. Using the symmetry of the reflection point group with respect to the plane mirror and the collinearity between the ring point and the point at infinity, the constraint equation of the image of the ring point with respect to the image of the absolute conic curve is established, and the internal parameters of the camera are solved linearly. Background technique

[0002] The research goal of computer vision is to enable the computer to have the ability to recognize three-dimensional environment information through two-dimensional images. One...

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