Multi-Camera 3D Image Calibration with Perpendicular Baseline
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Solution Overview
Problem
Conventional image processing techniques fail to maintain both verticalization and parallelization conversions simultaneously, leading to inconsistencies in 3D image generation from stereo images captured by wide-angle cameras with fixed depression angles, which affects the accurate projection of vertical objects.
Innovation Solution
An image processing apparatus with multiple imaging units arranged such that the baseline vector connecting their optical centers is perpendicular to the normal vector of a plane, allowing for simultaneous calibration and conversion of stereo images to correct lens distortion, align corresponding positions horizontally, and verticalize objects relative to a plane, using calibration units and conversion parameters to achieve parallelization and verticalization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If verticalization conversion and parallelization conversion are both carried out using conventional techniques, then lens distortion can be corrected and epipolar lines can be aligned, but both conversions cannot be maintained simultaneously
Solution Approach 1:
The patent changes the arrangement parameters of the imaging units, specifically setting the baseline vector connecting optical centers to be perpendicular to the normal vector of the reference plane. This parameter change enables both verticalization and parallelization conversions to be maintained simultaneously, resolving the contradiction between conversion accuracy and consistency.
Solution Approach 2:
The patent employs an asymmetric arrangement where the baseline vector is perpendicular to the plane normal rather than parallel, creating a specific geometric relationship that allows both conversions to coexist. This asymmetric configuration is key to maintaining both verticalization and parallelization simultaneously.
2Ease of operation
If a wide-angle camera with fixed depression angle is used to capture adjacent objects, then the camera can be mounted in limited spaces, but vertical objects cannot be projected vertically even after lens distortion removal
Solution Approach 1:
The patent changes the mounting parameter by orienting the baseline vector perpendicular to the plane normal, which compensates for the fixed depression angle limitation. This allows vertical objects to be projected vertically while maintaining the space-efficient fixed mounting configuration.
Solution Approach 2:
The patent introduces an intermediary geometric relationship (the perpendicular baseline arrangement) that mediates between the fixed camera mounting and the requirement for vertical object projection, enabling both conditions to be satisfied simultaneously through the calibration process.
3Adaptability or versatility
If stereo images are captured by two cameras with different viewpoints, then 3D image generation is enabled, but corresponding positions cannot be aligned horizontally without parallelization conversion
Solution Approach 1:
The patent performs preliminary action by pre-configuring the imaging units in a specific geometric arrangement (baseline perpendicular to plane normal) before image capture. This preliminary configuration ensures that parallelization conversion can be effectively applied during image processing, enabling accurate horizontal alignment of corresponding positions for 3D generation.
Data Source
AI summary
According to one embodiment, an image processing apparatus includes plural imaging units and a calibration unit. The imaging units capture an overlapping region. The calibration unit calibrates plural captured images and obtains plural calibrated images in which lens distortion in each of the captured images is corrected and corresponding positions of the captured images are aligned with each other horizontally and are adjusted to a surface perpendicular to a plane. The plural imaging units are arranged such that a baseline vector connecting optical centers of the imaging units is perpendicular to a normal vector of the plane.