Camera Parameter Calculation Using Pixel Values
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Solution Overview
Problem
Conventional camera calibration methods require a calibration index with a known three-dimensional structure, necessitating large-scale equipment and high processing precision, especially for wide-angle cameras, which is impractical and inefficient.
Innovation Solution
A camera parameter calculation apparatus that calculates camera parameters based on pixel values at pixel coordinates obtained by projecting three-dimensional coordinates onto an image, eliminating the need for a calibration index with a known three-dimensional structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a calibration index with a known three-dimensional structure is used for camera calibration, then measurement precision is improved, but device complexity and the scale of equipment required increase
Solution Approach 1:
The invention extracts only the essential information needed for calibration (pixel values at projected coordinates) while removing the complex calibration index structure. Instead of using a physical calibration target with known 3D structure, the method extracts calibration data directly from pixel values in captured images, eliminating the need for complex external calibration equipment.
Solution Approach 2:
The invention creates a virtual copy of the calibration process by projecting 3D coordinates onto 2D image planes computationally. Rather than physically placing a calibration index in the scene, the method generates projected coordinate information through coordinate transformation, effectively copying the calibration function into the computational domain.
2Manufacturing precision
If a calibration index with a known three-dimensional structure is used, then manufacturing precision requirements are reduced, but the area and volume of equipment required increase
Solution Approach 1:
The method extracts calibration information directly from pixel values without requiring a physical calibration index to be manufactured and positioned. By taking out the calibration index from the physical domain and replacing it with computational projection, the invention eliminates both manufacturing precision requirements and the physical space needed for calibration equipment.
Solution Approach 2:
The invention replaces the mechanical calibration system (physical calibration index, positioning equipment, large-scale arrangement) with a computational system. The mechanical process of physically arranging and measuring a calibration target is substituted by algorithmic coordinate projection and pixel value analysis, eliminating the need for large physical equipment.
3Reliability
If conventional calibration methods are used, then reliability of calibration is improved, but productivity and processing efficiency decrease
Solution Approach 1:
The invention enables continuous calibration processing by eliminating the discrete steps of physical calibration index placement, detection, and coordinate association. The method continuously projects 3D coordinates onto 2D planes and directly compares pixel values, allowing for efficient batch processing and repeated calibration without manual intervention, thus improving productivity while maintaining reliability through consistent computational procedures.
Data Source
AI summary
Provided are: a point group obtainer that obtains three-dimensional point group data indicating three-dimensional locations of each of a plurality of three-dimensional points included in an imaging space of one or more cameras; a camera parameter calculator that (i) obtains corresponding points, for each of the plurality of three-dimensional points, in individual images captured using the one or more cameras, based on the three-dimensional point group data and an initial camera parameter of each camera, and (ii) calculates a camera parameter of each camera on the basis of the initial camera parameter of each camera and pixel values, included in the individual images, at the corresponding points; and a camera parameter outputter that outputs the calculated camera parameter of each camera.