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Calibrating a catadioptric camera of a primer by using a single ball and a parallel circular tangent property

A technology of catadioptric and parallel circles, which is applied in the field of computer vision, can solve the problems of complex circle point selection, etc., and achieve the effects of simple production, improved calibration accuracy, and improved accuracy

Inactive Publication Date: 2019-02-12
YUNNAN UNIV
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  • Claims
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Problems solved by technology

However, the selection of the image of the ring point in this document is more complicated

Method used

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  • Calibrating a catadioptric camera of a primer by using a single ball and a parallel circular tangent property
  • Calibrating a catadioptric camera of a primer by using a single ball and a parallel circular tangent property
  • Calibrating a catadioptric camera of a primer by using a single ball and a parallel circular tangent property

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Embodiment

[0048] The invention proposes a method for linearly determining internal parameters of a parabolic catadioptric camera by using a sphere in space as a target. The experimental template that the present invention adopts is as shown figure 1 The ball shown in . The implementation of the present invention will be described in more detail with an example below.

[0049] The experimental template used in the calibration of parabolic catadioptric cameras based on spheres in space is a sphere in space, such as figure 1 As shown, the ball is Q. Utilize the method among the present invention to carry out calibration for the parabolic catadioptric camera that is used for experiment, concrete steps are as follows:

[0050] 1. Fit image boundary and target curve equation

[0051] The image size used in the present invention is 690×1198. Use the parabolic catadioptric camera to shoot 3 experimental images of the target, read the images, use the Edge function in Matlab to extract the p...

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Abstract

The invention relates to a method for calibrating a catadioptric camera of a primer by using a single ball and a parallel circular tangent property, which is characterized in that only the ball element is used; firstly, the edge points of specular contour projection and target image are extracted from three images respectively, and the specular contour projection and spherical image projection areobtained by least square fitting; secondly, according to the relationship between the image point and its extension point, the extension point is obtained, and then the extension spherical image of the spherical image is fitted; a point on the spherical image is taken and the topological point is found; by defining the topological points and the properties of parallel circles, the above set of topological points provides a vanishing point; in a parabolic catadioptric system, the sphere is projected onto the unit sphere for the first time to form two small parallel circles, two parallel circles on different faces have two pairs of conjugate imaginary intersection points, in which the two conjugate imaginary intersection points which are collinear with the infinity point of the plane in which the circle is located are ring points. Finally, the camera intrinsic parameters are obtained by using the constraint of the image of the torus point to the image of the absolute conic curve.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a method for solving the internal parameters of a parabolic catadioptric camera by using the properties of a sphere and a parallel circle tangent in space. Background technique [0002] The central task of computer vision is to understand images, and its ultimate goal is to enable computers to have the ability to recognize three-dimensional environmental information through two-dimensional images. This ability will not only enable the machine to perceive the geometric information of objects in a three-dimensional environment including shape, posture, motion, etc., but also describe, store, recognize and understand them. Camera calibration is to determine the mapping relationship from a three-dimensional space point to its two-dimensional image point, which is an essential step in many computer vision applications. In order to determine this mapping process, it is necessary to establi...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06F17/16
CPCG06F17/16G06T7/80
Inventor 李远珍赵越
Owner YUNNAN UNIV
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