Method for solving intrinsic parameters of parabolic catadioptric camera linearly by utilizing three unparallel straight lines in space

Abstract

The invention relates to a method for solving intrinsic parameters of a parabolic catadioptric camera linearly by utilizing three unparallel straight lines in a space. The method comprises the steps that a target consisting of the three unparallel straight lines in the space and used for automatic calibration of the parabolic catadioptric camera is utilized; the parabolic catadioptric camera is used to shoot an image of the target; the linear parabolic catadioptric image is a quadratic curve; target image points are extracted from the image; curvilinear equations are fitted; an intersection point of every two curves is solved; images of three pairs of circular ring points on a plane of the image are obtained according to a polar principle and a diameter concyclic center attribute; and the parameters in the camera are solved by utilizing linear restriction of the images of the circular ring points on an absolute conic. With the adoption of the target in the method, full automatic calibration can be realized, and errors due to measurement in a calibration process are reduced. As the straight lines are elements which are more concise and global, the calibration accuracy is improved in the calibration process of the camera.

Description

technical field [0001] The invention belongs to the field of computer research and relates to a straight line template for solving internal parameters of a parabolic catadioptric camera. Using three non-parallel straight lines in space as calibration templates, using the properties of quadratic curves to obtain the images of three groups of ring points, linearly determine the internal parameters of the parabolic catadioptric camera. Background technique [0002] One of the basic tasks of computer vision is to restore the geometric information of objects in three-dimensional space from the two-dimensional image information obtained by the camera, so as to recognize and reconstruct the geometric shape of objects in three-dimensional space. In this process, the relationship between the three-dimensional geometric position of the spatial object point and its corresponding point in the image must be determined, and this relationship is determined by the geometric model of the cam...

AI Technical Summary

Problems solved by technology

The document "Plane-based calibration of central catadioptric cameras", (S.Gasparini, P.Sturm, J.P.Barreto, IEEE 12th International Conference on Computer Vision, pp. 1195-1202, 2009) uses a two-dimensional template with control points , these control points can be corner points, drawn points or any points that are easy to extract from the image, but this method needs to use an iterative method to solve the internal and external parameters

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