Self-Calibrating Camera Parameter Calculation Without Fixed Reference Points
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Solution Overview
Problem
Existing camera calibration techniques fail to correctly calibrate stereo cameras when three-dimensional coordinates of calibration targets change due to factors like aging or external forces, as they require pre-obtained and fixed coordinates.
Innovation Solution
A camera-parameter-set calculation apparatus that calculates camera parameters without using pre-obtained three-dimensional coordinates, utilizing a receiver, three-dimensional point group calculator, evaluation value calculator, camera-parameter-set determiner, and outputter to determine camera parameters based on images from multiple cameras, allowing self-calibration without reference points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pre-obtained three-dimensional coordinates of calibration targets are used, then camera calibration can be performed, but calibration accuracy deteriorates when the coordinates change due to aging or external forces
Solution Approach 1:
The system performs self-calibration by automatically calculating three-dimensional coordinates from captured images without requiring pre-obtained coordinate data or external calibration markers. The camera system calibrates itself using its own imaging capability, eliminating dependency on stable external reference points that may change over time due to aging or external forces.
Solution Approach 2:
The patent replaces the mechanical/physical calibration marker system with a computational approach. Instead of relying on physical calibration targets with fixed coordinates, the system uses image processing and coordinate calculation algorithms to determine three-dimensional coordinates dynamically from captured images, substituting physical reference objects with computational methods.
2Measurement precision
If calibration markers with fixed coordinates are used, then calibration can be performed, but the system becomes vulnerable to coordinate changes from aging or external forces
Solution Approach 1:
The system transitions from static pre-obtained coordinates to dynamic coordinate calculation. Three-dimensional coordinates are calculated in real-time from captured images rather than being fixed in advance, allowing the system to adapt to changes in the imaging environment, camera position, or external conditions without requiring recalibration with physical markers.
Solution Approach 2:
The patent changes the fundamental parameter approach from using fixed, pre-determined coordinate values to calculating coordinates dynamically based on image data. This parameter transformation allows the system to maintain measurement precision while adapting to various imaging conditions and eliminating vulnerability to coordinate drift from aging or external forces.
3Extent of automation
If three-dimensional coordinates are calculated from images, then self-calibration without calibration markers is enabled, but calculation complexity increases
Solution Approach 1:
The patent extracts and removes the calibration marker component from the calibration process. By eliminating the need for external calibration markers and their associated coordinate data, the system achieves self-calibration using only captured images and computational algorithms, reducing physical complexity while introducing computational processing.
Data Source
AI summary
A camera-parameter-set calculation apparatus includes a three-dimensional point group calculator that calculates a plurality of three-dimensional coordinates, based on first and second images respectively captured by first and second cameras and first and second camera parameter sets of the first and second cameras; an evaluation value calculator that determines a plurality of pixel coordinates in the second image, based on the plurality of three-dimensional coordinates and the second camera parameter set, determines a plurality of third pixel coordinates in a third image captured by a third camera, based on the plurality of three-dimensional coordinates and a third camera parameter set of the third camera, and calculates an evaluation value, based on pixel values at the plurality of second and third pixel coordinates in the second and third images; and a camera-parameter-set determiner that determines a fourth camera parameter set for the third camera, based on the evaluation value.