Method for calibrating parabolic type catadioptric camera by using straight line and circular point image

A technology of refraction and ring point, applied in the field of computer vision, can solve problems such as degradation, and achieve the effect of simple production

Inactive Publication Date: 2018-01-19
YUNNAN UNIV
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Problems solved by technology

But the theory and calibration method in this literature is degenerate for the case of parabolic catadioptric camera

Method used

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  • Method for calibrating parabolic type catadioptric camera by using straight line and circular point image
  • Method for calibrating parabolic type catadioptric camera by using straight line and circular point image
  • Method for calibrating parabolic type catadioptric camera by using straight line and circular point image

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Embodiment

[0049] The invention proposes a method for linearly determining internal parameters of a parabolic catadioptric camera by using a straight line 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 straight lines in space is a straight line in space, such as figure 1 As shown, the straight line is denoted as Q. 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 920×710. Use the parabolic catadioptric camera to take 3 experimental images of the target, read the images, use the ...

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Abstract

Provided is a method for calibrating a parabolic type catadioptric camera by using a straight line and a circular point image, and the method is characterized in that a straight line in the space is taken as a target. The method includes firstly shooting three straight-line-containing images from different positions by means of the parabolic type catadioptric camera, extracting the edge point of the mirror surface contour projection and the edge point of the target image, and obtaining a mirror surface contour projection and a straight line image by means of the least square fitting; taking one point on the line image, and obtaining an antipodal image point, wherein the intersection point of the image point and the antipodal image point relative to the tangent line of the line image is a vanishing point; taking two different points from the line image to obtain two vanishing points; determining one vanishing line with the two vanishing points, wherein the intersection point of the vanishing line and the line image is the image of the circular point, and three images provide three groups of images of the circular point; and finally, solving the internal parameters of the camera through the constraint of the images of the circular point on the absolute quadratic curve image.

Description

technical field [0001] The invention belongs to the field of computer vision, and relates to a method for calculating internal parameters of a parabolic catadioptric camera by using images of a straight line and a circular 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 geom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/514G06T7/543G06T7/55
Inventor 赵越李远珍
Owner YUNNAN UNIV
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