| 一种反射折射摄像机的简易标定方法 |
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| 引用本文： | 邓小明,吴福朝,吴毅红.一种反射折射摄像机的简易标定方法[J].自动化学报,2007,33(8):801-808. |
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| 作者姓名： | 邓小明 吴福朝 吴毅红 |
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| 作者单位： | 1.National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, P.R.China |
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| 基金项目： | Supported by National Natural Science Foundation of China （60575019）, the National High Technology Research and Development Program of China （863 Program） （2006AA01Zl16）, and Institute of Automation Chinese Academy of Sciences Innovation Fund For Young Scientists |
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| 摘 要： | Central catadioptric cameras are widely used in virtual reality and robot navigation, and the camera calibration is a prerequisite for these applications. In this paper, we propose an easy calibration method for central catadioptric cameras with a 2D calibration pattern. Firstly, the bounding ellipse of the catadioptric image and field of view (FOV) are used to obtain the initial estimation of the intrinsic parameters. Then, the explicit relationship between the central catadioptric and the pinhole model is used to initialize the extrinsic parameters. Finally, the intrinsic and extrinsic parameters are refined by nonlinear optimization. The proposed method does not need any fitting of partial visible conic, and the projected images of 2D calibration pattern can easily cover the whole image, so our method is easy and robust. Experiments with simulated data as well as real images show the satisfactory performance of our proposed calibration method.
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| 关 键 词： | Central catadioptric camera calibration 2D calibration pattern computer vision |
| 收稿时间： | 2006-8-21 |
| 修稿时间： | 2006-08-21 |
An Easy Calibration Method for Central Catadioptric Cameras |
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| DENG Xiao-Ming,WU Fu-Chao,WU Yi-Hong.An Easy Calibration Method for Central Catadioptric Cameras[J].Acta Automatica Sinica,2007,33(8):801-808. |
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| Authors: | DENG Xiao-Ming WU Fu-Chao WU Yi-Hong |
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| Affiliation: | 1.National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, P.R.China |
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| Abstract: | Central catadioptric cameras are widely used in virtual reality and robot navigation, and the camera calibration is a prerequisite for these applications. In this paper, we propose an easy calibration method for central catadioptric cameras with a 2D calibration pattern. Firstly, the bounding ellipse of the catadioptric image and field of view (FOV) are used to obtain the initial estimation of the intrinsic parameters. Then, the explicit relationship between the central catadioptric and the pinhole model is used to initialize the extrinsic parameters. Finally, the intrinsic and extrinsic parameters are refined by nonlinear optimization. The proposed method does not need any fitting of partial visible conic, and the projected images of 2D calibration pattern can easily cover the whole image, so our method is easy and robust. Experiments with simulated data as well as real images show the satisfactory performance of our proposed calibration method. |
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| Keywords: | Central catadioptric camera calibration 2D calibration pattern computer vision |
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