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Method for calibrating a parabolic camera through a public autopolar triangle and a circular ring point of a single sphere

A ring point and camera technology, applied in the field of computer vision, can solve problems such as complex ring point selection, achieve simple production, improve calibration accuracy, and improve accuracy

Inactive Publication Date: 2019-03-26
YUNNAN UNIV
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  • Claims
  • Application Information

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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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  • Method for calibrating a parabolic camera through a public autopolar triangle and a circular ring point of a single sphere
  • Method for calibrating a parabolic camera through a public autopolar triangle and a circular ring point of a single sphere
  • Method for calibrating a parabolic camera through a public autopolar triangle and a circular ring point of a single sphere

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Embodiment

[0050] The invention proposes a method for linearly determining internal parameters of a parabolic camera by using a space sphere as a target. The implementation of the present invention will be described in more detail with an example below.

[0051] The template used in the calibration of the parabolic camera based on the sphere in space is the sphere Q in space, such as figure 1 shown. Using the method in the present invention to calibrate the parabolic camera, the specific steps are as follows:

[0052] 1. Fit image boundary and target curve equation

[0053] The image size used in the present invention is 1038×1048. Take three experimental images of the target with a parabolic camera, read in the images, use the Edge function in Matlab to extract the pixel coordinates of the edge points of the target image and the edge points of the mirror contour projection, and use the least square method to fit the mirror contour projection equation and spherical image The equation...

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Abstract

The invention relates to a method for calibrating a parabolic camera by using a public autopolar triangle and a circular ring point of a single sphere. Firstly, edge points of a target image are extracted from the image, and a spherical image equation is obtained through least square method fitting. According to the fact that any two separated spherical images have a unique public self-polar triangle, a group of corresponding poles and polar lines of the spherical images and the antipodal spherical images can be obtained. Meanwhile, the polar line is an image passing through the sphere centersof the two spheres, and the polar point is a vanishing point. Wherein the sphere image and the antipodal sphere image have four imaginary intersection points, one pair of conjugate complex points isan image of a circular point, and the image of the circular point can be determined according to the collinear property of the image of the circular point and the vanishing point, so that the constraint of the image of the circular point and the image of the absolute quadratic curve is utilized to solve the internal parameters of the parabolic catadioptric camera.

Description

technical field [0001] The invention belongs to the field of computer vision, and relates to a method for solving internal parameters of a parabolic catadioptric camera by using images of common self-polar triangles and circular points of a spherical image in space, and the parabolic catadioptric camera is referred to as a parabolic camera for short. 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 m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T2207/20068G06T2207/30208G06T7/80
Inventor 汪雪纯杨丰澧赵越
Owner YUNNAN UNIV
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