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Method of determining intrinsic parameters of parabolic catadioptric camera through linearity of two mutually-shielded spheres

A camera internal parameter, catadioptric technology, applied in the field of computer vision, can solve the problem of complex ring point selection

Inactive Publication Date: 2014-12-17
YUNNAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the selection of the image of the ring point in this document is more complicated

Method used

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  • Method of determining intrinsic parameters of parabolic catadioptric camera through linearity of two mutually-shielded spheres
  • Method of determining intrinsic parameters of parabolic catadioptric camera through linearity of two mutually-shielded spheres
  • Method of determining intrinsic parameters of parabolic catadioptric camera through linearity of two mutually-shielded spheres

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Embodiment

[0035] The present invention proposes to linearly determine the internal parameters of the parabolic catadioptric camera by using two mutually occluded spheres in space as targets. The experimental module structure diagram that the present invention adopts is as figure 1 shown. The implementation of the present invention will be described in more detail with an example below.

[0036] The experimental template used in the parabolic catadioptric camera calibration method based on two mutually occluded spheres in space is two mutually occluded spheres, such as figure 1 shown. The two balls are and , using the method in the present invention to calibrate the parabolic catadioptric camera for implementation, the specific steps are as follows:

[0037] 1. Fit image boundary and target curve equation

[0038] The image resolution adopted by the present invention is pixels, take 5 experimental pictures with a parabolic catadioptric camera, read in the images, use the funct...

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Abstract

The invention relates to a method of determining intrinsic parameters of a parabolic catadioptric camera through linearity of two mutually-shielded spheres. The method comprises the following steps that five images of a target are shot from different directions by utilizing the parabolic catadioptric camera, parabolic catadioptric images of the target are two intersected quadratic curves, boundary pixel point coordinates and image point coordinates of the five target images are extracted from the images, antipodal image points are obtained according to the relation between the image points and the antipodal image points, curve equations are respectively fitted, two groups of antipodal image points are formed by two actual points of intersection of a sphere image and two actual points of intersection of an antipodal sphere image, through definition of the antipodal image points, the two groups of antipodal image points provide one group of orthogonal direction end points on an image plane, and the intrinsic parameters of the camera are solved by utilizing constraint linearity of the orthogonal direction end points on an absolute conic image. By utilizing the target in the invention, full-automatic calibration can be implemented, and errors caused by measurement in a calibration process are reduced. Projection contour lines of the spheres can be completely extracted in the image, so that the calibration precision of the camera is improved.

Description

technical field [0001] The invention belongs to the field of computer vision, and relates to a method for linearly solving the internal parameters of a parabolic catadioptric camera by using two mutually occluded spheres. Take 5 images of the target from different directions, and determine a set of orthogonal direction disappearance through the two sets of anti-extension image points formed by the two real intersection points of the spherical image and the two actual intersect points of the anti-extension spherical image in each catadioptric image. point, using the constraints of the vanishing point in the orthogonal direction to the absolute conic image to linearly solve the internal parameters of the parabolic catadioptric camera. Background technique [0002] The research goal of computer vision is to enable computers to have the ability to recognize three-dimensional environmental information through two-dimensional images. This ability will not only enable the machine ...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 赵越王亚林和耀彩
Owner YUNNAN UNIV
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