Method for calibrating parabolic catadioptric camera by using properties of single sphere and circle tangent line

Abstract

The invention discloses a method for calibrating a parabolic catadioptric camera by using properties of a single sphere and a circle tangent line. The method is characterized by taking a sphere in a space as a target. The method comprises the specific steps of: firstly, shooting three pictures containing the sphere from different positions by means of the parabolic catadioptric camera; secondly, acquiring antipodal image points according to relationship between image points and antipodal image points thereof in a parabolic catadioptric unit visual sphere model, so as to estimate an antipodal sphere image of a sphere image; thirdly, selecting a point from the sphere images, wherein a tangent line of each image point about the corresponding sphere image and a tangent line of the corresponding antipodal image point about the corresponding antipodal sphere image intersect at an image vanishing point through definition of the antipodal image points, an intersection point of the image vanishing point about polar lines of the sphere image and the antipodal sphere image is an image vanishing point, a straight line where the two image vanishing points are located is an image vanishing line,an intersection point of the image vanishing line and the sphere image is an image of circular points, and the three pictures provide the images of three groups of circular points; and finally, solving inner parameters of the camera by utilizing the constraint of the images of the circular points for an absolute conic curve image.

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 the properties of a sphere and a circle tangent 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 geometr...

AI Technical Summary

Problems solved by technology

However, the selection of the image of the ring point in this document is more complicated

Images