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Method for calibrating parabolic catadioptric camera by using separated two-ball image and orthogonal vanishing point

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

Inactive Publication Date: 2016-02-24
YUNNAN UNIV
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  • Description
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  • 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 for calibrating parabolic catadioptric camera by using separated two-ball image and orthogonal vanishing point
  • Method for calibrating parabolic catadioptric camera by using separated two-ball image and orthogonal vanishing point
  • Method for calibrating parabolic catadioptric camera by using separated two-ball image and orthogonal vanishing point

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Experimental program
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Embodiment

[0046] The invention proposes a method for using space double spheres as targets, and the images of the targets 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.

[0047] The experimental template used in the calibration of the parabolic catadioptric camera based on the double sphere in space is a double sphere in space, and the images of the double sphere 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:

[0048] 1. Fit image boundary and target curve equation

[0049] The image size used in the present inve...

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Abstract

The present invention relates to a method for calibrating a parabolic catadioptric camera by using a separated two-ball image and an orthogonal vanishing point. The method comprises: firstly, using the parabolic catadioptric camera to shoot an image of a target, wherein the target is two balls with separated projections on an image plane; obtaining an antipodal image point according to a relationship between an image point and the antipodal image point of the image point, thereby estimating an antipodal ball image of the two-ball image in a catadioptric image, and solving intersection points of the two-ball image and intersection points of the antipodal ball image of the two-ball image; secondly, determining the orthogonal vanishing point according to four groups of virtual antipodal image points correspondingly formed by virtual intersection points of the ball image and the antipodal ball image; and finally, solving an intrinsic parameter of the parabolic catadioptric camera by using constraint of the orthogonal vanishing point on the intrinsic parameter 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 separated double spherical images and orthogonal vanishing 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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 赵越王亚林
Owner YUNNAN UNIV
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