Method of calibrating parabolic catadioptric camera by use of single sphere and orthogonal vanishing point

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

Inactive Publication Date: 2017-02-22
YUNNAN UNIV
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  • 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 calibrating parabolic catadioptric camera by use of single sphere and orthogonal vanishing point
  • Method of calibrating parabolic catadioptric camera by use of single sphere and orthogonal vanishing point
  • Method of calibrating parabolic catadioptric camera by use of single sphere and orthogonal vanishing point

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Embodiment

[0049] The invention proposes a method for linearly determining internal parameters of a parabolic catadioptric camera by using a sphere in space as a target. 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.

[0050] The experimental template used in the calibration of parabolic catadioptric cameras based on spheres in space is a sphere in space, such as figure 1 As shown, the ball is . 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:

[0051] 1. Fit image boundary and target curve equation

[0052] The image size used in the present invention is . Take an experimental image of the target with a parabolic catadioptric camera, read in the image, use the Edge function in Matlab to extract th...

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Abstract

The invention relates to a method of calibrating a parabolic catadioptric camera by use of a single sphere and an orthogonal vanishing point. The method is characterized in that only a sphere element is used. Firstly, the edge points of a mirror surface contour projection and the edge points of a target image are extracted from an image, a mirror surface contour projection and a sphere image projection are obtained by fitting based on a least square method. Secondly, antipodal image points are obtained according to the relationship between image points and antipodal image points thereof, and an antipodal sphere image of a sphere image is fitted out; two different points are taken from the sphere image, and the antipodal image points of the two points are calculated out; the two groups of antipodal image points provide a group of orthogonal vanishing points; and six groups of points (there are two different points in each group) are taken from the sphere image to obtain six group of orthogonal vanishing points. Finally, the intrinsic parameters of the camera are calculated based on the constraint of the orthogonal vanishing points on the intrinsic parameters of the camera; and in the process of calculation, five intrinsic parameters of the parabolic catadioptric camera are calculated using one image of a shooting target of the parabolic catadioptric 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 a sphere and an orthogonal vanishing point in space. 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 ima...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
Inventor 赵越李远珍
Owner YUNNAN UNIV
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