A method for calibrating a catadioptric camera using properties of a single sphere and a conjugate diameter

A conjugate diameter, refraction technology, applied in the field of computer vision, can solve the problem of complex ring point selection

Inactive Publication Date: 2019-02-19
YUNNAN UNIV
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  • 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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  • A method for calibrating a catadioptric camera using properties of a single sphere and a conjugate diameter
  • A method for calibrating a catadioptric camera using properties of a single sphere and a conjugate diameter
  • A method for calibrating a catadioptric camera using properties of a single sphere and a conjugate diameter

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Embodiment

[0060] The invention proposes a method for linearly determining the parameters of a parabolic reflex camera by using a sphere in space as a target. The schematic diagram of the experimental template structure used in the present invention is as figure 1 Shown. The following describes the implementation of the present invention in more detail with an example.

[0061] The experimental template used in the calibration of the parabolic catadioptric camera based on the ball in space is a ball in space, such as figure 1 As shown, the ball is Q. Using the method of the present invention to calibrate the parabolic catadioptric camera used in the experiment, the specific steps are as follows:

[0062] 1. Fit the image boundary and target curve equation

[0063] The image size used in the present invention is 1300×1200. Use the parabolic catadioptric camera to shoot 3 experimental images of the target, read in the images, use the Edge function in Matlab to extract the pixel coordinates o...

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Abstract

A method for calibrating a catadioptric camera using properties of a single sphere and a conjugate diameter is characterized in that only spherical elements are used. Firstly, the edge points of the target image and the edge points of the specular contour projection of one image are extracted from three images respectively, and the specular contour projection and the spherical image projection areobtained by least square fitting. Secondly, according to the relation between the image point and its extension point, the extension point is obtained, and then the extension spherical image of the spherical image is fitted. According to the property of the conjugate diameter of a circle, the intersection point of the polar line of the vanishing point with respect to the spherical image and the contrastive spherical image is a set of orthogonal vanishing points. Two sets of orthogonal vanishing points can be obtained by choosing two sets of different points on the spherical image. All the orthogonal vanishing points corresponding to a plane only provide two constraints for the image of absolute conic and six constraints for three images. Finally, the camera intrinsic parameters are obtained by using the constraint of the orthogonal vanishing point to the absolute conic image.

Description

Technical field [0001] The invention belongs to the field of computer vision and relates to a method for solving the parameters of a parabolic catadioptric camera by using the properties of a sphere and a conjugate diameter in space. Background technique [0002] The central task of computer vision is to understand images, and its ultimate goal is to make computers 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 the three-dimensional environment including shape, posture, movement, etc., but also to 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. It is an indispensable step for many computer vision applications. In order to determine this mapping process, a geometric imaging model of the camera n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 李远珍赵越
Owner YUNNAN UNIV
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