Method for calibrating conic refraction and reflection camera of non-center axial symmetrical system

Abstract

The invention relates to a method for calibrating a conic refraction and reflection camera of a non-center axial symmetrical system. The method includes: a calibration block image is shot by employing the conic refraction and reflection camera, principal point locus curves are constrained through image points of the refraction and reflection image, and the coordinate of a principal point is determined by multiple loci; the polar line of the principal point is solved by employing a contour circle formed by a certain image point, wherein the intersection point of the polar line and a tangent passing the image point and the intersection point of the principal point and a connecting line of the image points are a group of vanishing points in the orthogonal direction; and two groups of vanishing points in the orthogonal direction are calculated by employing two image points so that the scale factor and the distortion factor of the conic mirror refraction and reflection camera are solved. By employing the method, the cross ratio is determined by directly employing the distances between the points on lines of the spatial calibration block, and point selection on the lines of the spatial calibration block is easy, convenient and accurate so that the accuracy of calibration results is improved.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a method for solving the internal parameters of a conic catadioptric camera by using cross ratio and antipolar relationship. Background technique [0002] The working mode of the human eye is the goal of research in the field of computer vision. The image is formed on the retina of the human eye, which is converted into nerve impulse signals by photoreceptor cells, and then transmitted to the cerebral cortex for processing through nerve fibers. Vision is not only the perception of light signals, but also includes the whole process of acquisition, transmission, processing, storage and understanding of visual information. After the emergence of signal processing theory and computers, people tried to use cameras to obtain environmental images and convert them into digital signals, and used computers to realize the whole process of visual information processing. In order to determine th...

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Problems solved by technology

In fact, a central catadioptric system can be obtained when the point of view of the perspective camera is aligned with the vertices of the conical mirror. This particular example is described in the document "True singleview point cone mirror omni-directional catadioptric system", (S.-S. Lin , R.Bajcsy, Proc. IEEE International Conference on Computer Vision. 2001,2: 102–107.) and the document "The True Single View Point (SVP) Configuration for Omni-Directional View Catadioptric System Using Cone Mirror", (Shih- SchN L, RuzenaB., IEEE Transactions on Pattern Analysis & Machine Intelligence, 2006, 28(5):840-845.) studied a cone-shaped imaging system with a true single-viewpoint (SVP) omnidirectional view, and constructed such The system is complex and the engineering volume is large

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