Method of utilizing projection matrix of Veronese mapping checkerboard to calibrate central catadioptric camera

A projection matrix and refraction technology, applied in the field of computer vision, can solve problems such as data loss

Inactive Publication Date: 2017-04-05
YUNNAN UNIV
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

The aspect ratio of the picture taken by the camera in the model is 1, some information in the space will be omitted during the solution process, resulting in data loss, and only the extended form of the rotation matrix can be solved

Method used

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  • Method of utilizing projection matrix of Veronese mapping checkerboard to calibrate central catadioptric camera
  • Method of utilizing projection matrix of Veronese mapping checkerboard to calibrate central catadioptric camera

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Embodiment

[0090] The present invention proposes a method for linearly estimating the projection matrix of space checkerboard imaging based on Veronese mapping and using DLT method to solve the internal parameters of the central 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.

[0091] The experimental templates used in the calibration of hyperbolic reflex cameras based on space checkerboard are mutually perpendicular in space. block checkerboard, such as figure 1 shown. Utilize the method in the present invention to calibrate the hyperbolic reflection camera for experiment, concrete steps are as follows:

[0092] 1. Obtain the coordinate points of the checkerboard space and extract the corresponding image points from the image

[0093] Select 8 corner points on each face of the space checkerboard (th...

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Abstract

The present invention relates to a method of utilizing a projection matrix of a Veronese mapping checkerboard to calibrate a central catadioptric camera. The method comprises the steps of using the central catadioptric camera to shoot a target image, and extracting the image points corresponding to the checkerboard in the space; utilizing the Veronese mapping to expand the coordinates, and using a DLT-similarity method to estimate the projection matrix linearly; utilizing the projection matrix to solve the parameters in the camera. By utilizing the method of the present invention, no physical scale requirement is required, the points are easy to select, the point sources are abundant, the calibration errors caused by the data errors during a calibration process are reduced, and the one-to-one correspondence of the image points and the angular points of the space checkerboard can be controlled, thereby improving the calibration precision of the camera.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a method for calibrating a central catadioptric camera by using a projection matrix of Veronese mapping space checkerboard imaging. Background technique [0002] The most important perception of human beings comes from vision. Computer vision refers to the use of cameras and computers to replace human eyes to perceive the world, so that the computer has the ability to recognize the three-dimensional real environment through two-dimensional images, which can be regarded as a research field. The science of how to make artificial intelligence systems perceive the real world from images or multidimensional data. Computer vision is widely used in the fields of robot navigation, visual monitoring, 3D measurement and 3D reconstruction. In the 1980s, Professor Marr combined the research results of image processing, clinical psychiatry, psychophysics and neurophysiology to put forward the com...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T2207/20068
Inventor 赵越王顺成程东升
Owner YUNNAN UNIV
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