Robotic Camera Calibration Models for Full-Field Distortion Accuracy

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Solution Overview

Problem

Existing camera calibration techniques struggle to accommodate a wide range of camera parameters and often result in inaccurate extrinsic parameter determination and poor distortion model accuracy over the full field of view, requiring large physical charts and being inflexible.

Innovation Solution

A flexible camera calibration system using a robotic assembly, calibration target with markers, camera assembly, tracker, and computer system to generate a model by moving the calibration target through a series of poses, determining marker locations, and generating transformation functions to calculate intrinsic and extrinsic parameters.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If existing camera calibration techniques use large physical charts, then measurement precision may be improved, but device complexity and space requirements increase

Engineering Contradiction:

Improveextrinsic parameter determination accuracyVSAvoidphysical chart size

Core Design Contradiction:

Measurement precisionVSArea of stationary object

Solution Approach 1:

The patent transitions from 2D physical calibration charts to 3D virtual calibration targets defined by marker coordinates in three-dimensional space. The calibration process operates in a virtual 3D environment rather than requiring physical 2D charts, allowing calibration data to be captured from multiple camera angles and positions around the virtual target.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Solution Approach 2:

The patent creates a virtual copy of the calibration target through computer-generated marker coordinates rather than using physical charts. The virtual calibration target is represented by digitally defined marker positions that can be accessed and measured from any angle without requiring physical space, effectively replacing the need for large physical calibration artifacts.

Inventive Principle:

Principle #26Copying

2Adaptability or versatility

If existing calibration methods use fixed camera parameters, then device complexity is reduced, but adaptability to various camera parameters deteriorates

Engineering Contradiction:

Improveaccommodation of camera parametersVSAvoidcalibration system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements a dynamic calibration approach where the camera can be positioned at multiple different locations and orientations around the virtual calibration target. The robotic assembly dynamically adjusts camera position and orientation to capture images from various angles, allowing the system to adapt to different camera parameters including focal length, field of view, and mounting position.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The calibration system is designed to be universal and applicable to various camera types and parameters. The virtual calibration target and marker coordinate system can accommodate different camera intrinsics (focal length, principal point) and extrinsics (mounting position, orientation), making the same calibration approach work across multiple camera configurations without requiring separate calibration procedures.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Measurement precision

If existing techniques use simplified distortion models, then device complexity is reduced, but measurement precision over full field of view deteriorates

Engineering Contradiction:

Improvedistortion model accuracyVSAvoiddistortion model complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent employs a systematic periodic approach to distortion correction by capturing images at multiple predetermined positions and orientations around the virtual calibration target. This periodic sampling of the full field of view from different angles allows the system to characterize and correct distortion across the entire camera field, rather than relying on simplified models that only work at limited angles.

Inventive Principle:

Principle #19Periodic action

4Productivity

If manual calibration procedures are used, then device complexity is reduced, but productivity and time consumption deteriorate

Engineering Contradiction:

Improvecalibration speedVSAvoidautomation system complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent replaces manual mechanical calibration operations with an automated robotic assembly that positions the camera and captures images according to a predetermined sequence. The robotic system automatically moves the camera to specified positions and orientations, eliminating the need for manual positioning and image capture while significantly increasing calibration throughput and consistency.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12403606B2Methods and systems of generating camera models for camera calibration

Publication Date: 2025.09.02 QUARTUS ENGINEERING INC

AI summary

Systems and methods for generating a camera model are provided.