Method for calibrating parabolic catadioptric camera by using separate image of double balls and image of circular point

A catadioptric and camera technology, applied in the field of computer vision, can solve the problem of complex circle point selection

Inactive Publication Date: 2016-02-10
YUNNAN UNIV
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Problems solved by technology

However, the selection of the image of the ri

Method used

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  • Method for calibrating parabolic catadioptric camera by using separate image of double balls and image of circular point
  • Method for calibrating parabolic catadioptric camera by using separate image of double balls and image of circular point
  • Method for calibrating parabolic catadioptric camera by using separate image of double balls and image of circular point

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Embodiment

[0072] The invention proposes a method for using the double spheres in space as targets, and the projections of the targets on the imaging plane are separated, and using the target linearity to determine the internal parameters of the parabolic catadioptric camera. The experimental template structural schematic 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.

[0073] The experimental template used in the calibration of parabolic catadioptric cameras based on double spheres in space is a double sphere in space, and the projections of the double spheres on the imaging plane are separated, such as figure 1 As shown, the two balls are and . Utilize the method among the present invention to carry out calibration for the parabolic catadioptric camera that is used for experiment, concrete steps are as follows:

[0074] 1. Fit image boundary and target curve equa...

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Abstract

The present invention relates to a method for calibrating a parabolic catadioptric camera by using a separate image of double balls and an image of a circular point. An image of double balls used as targets is shot by using the parabolic catadioptric camera, and the targets are separated on an image plane. A main point of an intrinsic parameter of the camera is determined by four groups of imaginary antipodal image points, which are correspondingly formed by imaginary intersection points of ball images in the catadioptric image and imaginary intersection points of antipodal ball images; on the basis of obtaining the main point, vanishing lines of planes where two groups of parallel projection small circles of double balls on a unit virtual ball are positioned are solved, so that the image of the circular point on the plane is determined and finally, other intrinsic parameter of the camera are solved by using the constraint of image of the circular point to the intrinsic parameter of the camera. According to the method provided by the present invention, full automatic calibration can be implemented, and errors caused by measurement in the calibration process are reduced. Since all the projection contour lines of the balls in the image can be extracted, thereby improving the calibration accuracy of the camera.

Description

technical field [0001] The invention belongs to the field of computer vision, and relates to a method for solving internal parameters of a parabolic catadioptric camera by using images of separated double spheres and circular points. Background technique [0002] The central task of computer vision is to understand images, and its ultimate goal 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 to perceive the geometric information of objects in a three-dimensional environment including shape, posture, motion, etc., but also describe, store, recognize and understand them. Camera calibration is to determine the mapping relationship from a three-dimensional space point to its two-dimensional image point, which is an essential step in many computer vision applications. In order to determine this mapping process, it is necessary to establish a geometric...

Claims

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Application Information

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