CN107993266A - Light-field camera intrinsic parameter caliberating device and method - Google Patents
Light-field camera intrinsic parameter caliberating device and method Download PDFInfo
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present invention provides a kind of light-field camera intrinsic parameter caliberating device and method, light-field camera is fixed on electronic control translation stage, motion controller control electronic control translation stage, drives light-field camera translation diverse location；Scaling board is placed in front of light-field camera main lens, and is fixed on angle turntable, motion controller control angle turntable, drives scaling board different rotation angle；By rotating the scaling board under scaling board or the different postures of mobile light-field camera shooting, and determine the point on multigroup scaling board and corresponding picture point, outer parameter under light-field camera intrinsic parameter and corresponding posture is calculated using linear initialization, finally establishes cost function, iteration tries to achieve optimal solution.The present invention can more flexibly, accurately demarcate light-field camera intrinsic parameter.
Description
Technical field
The present invention relates to computer vision, computer shooting is learned and optical engineering field, and in particular to one kind is based on calibration
The light-field camera intrinsic parameter peg model and method of plate.
Background technology
The rise of optical field imaging theory is a big important innovation in computer camera field, it breaches tradition imaging skill
A variety of limitations of art.Light-field camera reduces the stream of photographing information by recording the position of light and angle information in space
Lose, post-processing can be carried out according to demand and obtain the focusedimage under any depth.However, the accuracy of camera parameter calibration
Restrict the development of light-field camera performance to a certain extent.Accurate calibration result puies forward later stage refocusing image resolution ratio
Rise and the improvement of image quality is significant.
2013, the method that Johannsen et al. proposes the calibration of light-field camera intrinsic parameter was adjacent micro- by calculating
Parallax between mirror image rebuilds three-dimensional point, then tries to achieve optimal solution using nonlinear optimization method.However, this method is uncomfortable
Geometric center and the misaligned situation of optical center for lenticule.The same year, Dansereau et al. establishes a kind of by light field phase
The method that the pixel of machine is decoded into the model of light and the projective transformation matrix with 12 parameters, but this process employs
The calibration of traditional camera internal reference carries out the intrinsic parameter initialization operation of light-field camera, and there are decoding matrix parameter redundancy issue.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of light-field camera intrinsic parameter caliberating device and method, energy
Enough more flexibly, light-field camera intrinsic parameter is accurately demarcated.
The technical solution adopted by the present invention to solve the technical problems is：A kind of light-field camera intrinsic parameter caliberating device, bag
Include light-field camera, scaling board, electronic control translation stage, motion controller and angle turntable.Light-field camera is fixed on automatically controlled flat
In moving stage, motion controller control electronic control translation stage, drives light-field camera translation diverse location；Scaling board is placed in light field phase
In front of owner's lens, and it is fixed on angle turntable, motion controller control angle turntable, drives scaling board rotation not
Same angle.
The present invention also provides a kind of calibration of light-field camera intrinsic parameter, comprise the following steps：
1) double parallel areal model TPP coordinate systems are established, the light that light-field camera collects is described, is then built
Be based on the projective transformations of TPP coordinate systems, and 7 light-field camera intrinsic parameters for needing to demarcate are included in transformation matrix
2) one group of initial light-field camera intrinsic parameter is givenEstablish stencil plane
On point and its picture point between homography H, and seek its solution, light-field camera internal reference matrix P obtained, by each image
Homography matrix H and internal reference matrix P tries to achieve the external parameter of each image；
3) all parameters are carried out with nonlinear optimization, it is specific as follows：
3.1) single order and the second order radial distortion of camera lens are handled；
3.2) mobile light-field camera or rotation scaling board, shoot the scaling board under different postures, obtain n width images, and
Assuming that the coordinate of each calibration point has independent identically distributed noise；Xw,iFor the priori point of the i-th width image in real scene, its
Middle xi,jIt is picpointed coordinate vector of i-th of object point on jth width image in three-dimensional scenic；By minimizing all measured values
xi,jWith its estimateRe-projection error, obtain optimal solution.
The beneficial effects of the invention are as follows：By rotating the calibration under scaling board or the different postures of mobile light-field camera shooting
Plate, and determine multigroup scaling board on point and corresponding picture point, using linear initialization calculate light-field camera intrinsic parameter and
Outer parameter under corresponding posture, finally establishes cost function, iteration tries to achieve optimal solution.Compared to light-field camera intrinsic parameter before
Scaling method, the present invention counteracts the refraction action of main lens, and imaging system is reduced to the double parallel with 7 parameters
Areal model, is more in line with paths and image-forming principle, on the basis of intrinsic parameter calibration accuracy is improved, in certain journey
Solves decoding matrix parameter redundancy issue on degree.In addition, the present invention is unknown in the kinematic parameter of light-field camera and scaling board
In the case of can carry out the calibration of intrinsic parameter, therefore there is preferable flexibility.
Brief description of the drawings
Fig. 1 is light-field camera internal structure schematic diagram.
Fig. 2 is double parallel plane coordinate system system.
Fig. 3 is microlens array position correction schematic diagram in light-field camera.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
One aspect of the present invention proposes a kind of light-field camera intrinsic parameter caliberating device, including：It is light-field camera, scaling board, automatically controlled
Translation stage, motion controller and angle turntable.At a certain distance from scaling board is placed in front of light-field camera main lens, and
It is fixed on angle turntable, wherein, connected and controlled by serial ports between scaling board and terminal, by terminal control
Scaling board processed, makes its different rotation angle, for shooting the scaling board of different postures.Light-field camera is fixed on automatically controlled translation
On platform.Wherein, motion controller one end is connected to terminal, and the other end is connected to electronic control translation stage.Finally by calculating
Machine controls the translation of light-field camera, for shooting the scaling board of different postures.
Another aspect of the present invention propose it is a kind of based on double parallel areal model (Two-parallel-plane Model,
TPP internal reference scaling method), calculates the inner parameter of light-field camera.Key link includes：Established based on TPP coordinate systems
Projective transformation, cost function in the solution of light-field camera intrinsic parameter and outer parameter, nonlinear optimization in linear initialization
Foundation and the method for solving of optimal solution.The method comprises the steps of：
S1, the projective transformation established based on TPP coordinate systems.TPP coordinate systems are initially set up, light-field camera is gathered
To light be described, the projective transformation based on TPP coordinate systems is then established, comprising needing to demarcate in transformation matrix
7 light-field camera intrinsic parameters
S2, linear initialization
Give one group of initial light-field camera intrinsic parameterPut down by establishing template
The homography H between point and its picture point on face, and seek its solution, then obtains light-field camera internal reference matrix P, finally by
The homography matrix H and internal reference matrix P of each image can be in the hope of the external parameters of each image.
S3, nonlinear optimization
The corresponding outer parameter matrix of Intrinsic Matrix and each image of the light-field camera obtained as above arrived is all one
Coarse solution, without specific physical significance, the methods of present invention is by minimizing re-projection, carries out all parameters non-linear
Optimization.
S3.1, processing radial distortion
Due to the design feature of lens, make most of video cameras in imaging process more or less can there are lens distortion,
And most notably radial distortion wherein is influenced on imaging model.The present invention considers single order and the second order radial distortion of camera lens.
S3.2, establish cost function
By mobile light-field camera or rotation scaling board, the scaling board under different postures is shot, can obtain n width images,
And assume that the coordinate of each calibration point has independent identically distributed noise.Xw,iFor the priori point of the i-th width image in real scene,
Wherein xi,jIt is picpointed coordinate vector of i-th of object point on jth width image in three-dimensional scenic.By minimizing all measured values
xi,jWith its estimateRe-projection error, so as to obtain optimal solution.
S3.3, iteration try to achieve optimal solution
The minimum of cost function in step S3.2 is tried to achieve using Levenberg-Marquardt algorithms, it is initially estimated
Meter can utilize the result of linear solution in step S2.Clearly as can be seen that computation sequence is projection matrix, internal ginseng successively
Number, external parameter, finally carry out nonlinear optimization.
A kind of device for light-field camera intrinsic parameter of the embodiment of the present invention offer, including light-field camera, scaling board,
Angle turntable, electronic control translation stage and motion controller.Scaling board is fixed on angle turntable, is placed in light-field camera master
In front of lens in 1m, wherein, connected and controlled by serial ports between scaling board and terminal.Different rotation angle, shooting is not
With the scaling board of posture.Light-field camera is fixed on electronic control translation stage, wherein, motion controller one end is connected to computer end
End, the other end are connected to electronic control translation stage.Finally by the translation of computer control light-field camera, for shooting different postures
Scaling board.
The present invention is formed using self-control light-field camera by the transformation of Gige cameras.The light-field camera structure that the present invention uses is such as
Shown in Fig. 1, light passes sequentially through main lens, lenticule after entering light-field camera, eventually arrives at sensor.CCD sensors 104
Pixel size is 9 μm * 9 μm, and total pixel number is 2672*4008.103 arranged in regular hexagon shape of camera internal lenticule, it is single micro-
Mirror diameter d=0.3mm, focal length f0=2.726 μm.101 focal length F=50mm of Nikon AF Nikkor main lens, clear aperature
Diameter D=5.609~6.723mm.
The scaling board that the present invention uses has 10*10 angle point, the size of cell is for the dot matrix printed on blank sheet of paper
2cm*2cm。
The light-field camera intrinsic parameter scaling method that the embodiment of the present invention proposes, comprises the following steps：
S1, the projective transformation established based on TPP coordinate systems
S1.1, establish TPP coordinate systems, and the light that light-field camera collects is described
The present invention is described the light that light-field camera collects using TPP models, and specific method is as follows：Define one
TPP coordinate systems, such as Fig. 2, wherein x-y plane and u-v planes are parallel to each other, and two planar centrals are in two plane normal vector z-axis
On, and distance is f, r=(x, y, u, v, f)TRepresent that is crossed a point (x, y, 0)TWith point (u, v, f)TLight.Led to by light r
Cross point (X, Y, Z)T, can obtain：
When at least there are two light riAnd rj, andWhen, (X, Y, Z)TIt can solve.
S1.2, establish the projective transformation based on TPP coordinate systems
By r=(x, y, u, v, f)TReplace with r'=(kxx,kyy,kuu+u0,kvv+v0,f')T, obtain intersection point (X', Y',
Z')T, it meets：
Wherein,For the relevant parameter of transformation matrix P, s is scale factor.To make light
{ r'} meets at point (X', Y', Z') to line collectionT,It must meet ku/kx=kv/ky。
S2, linear initialization
S2.1, rotation scaling board or mobile light-field camera shoot the scaling board of nine different postures.
S2.2, determine the point on multigroup scaling board and corresponding picture point.
S2.3, correction picture point
It is not allowed in view of the position of microlens array in light-field camera, must be to the picture point that finds in specific implementation such as Fig. 3
It is corrected, method is as follows：
It is (x to define microlens array optical center 301g,yg,zg)T, lenslet diameter dm, then have：
Wherein, Rmla∈ SO (3), (xm,ym,L)TFor the offset between microlens array reference planes and main lens.Cause
This, the 302 (x of geometric center of lenticule imageg',yg')TCalculate as follows：
Using formula 3 and formula 4, the homography with 8 frees degree can pre-process view data, make
Plane is parallel with plane where main lens where obtaining microlens array.
S2.4, establish homography H between the point in scaling board plane and its picture point
Give any X'=(kx',ky',ku',kv',u0',v0',f')T, by virtual ray (x, y, i, j, 1)TBe decoded as through
Cross point (kx'x,ky'y,0)TWith point (ku'i+u0',kv'j+v0',f')TLight.Herein, present invention assumes that k'x=k'y=
k'xy, ku'=kv'=k'uv, the parameter in X also complies with above-mentioned hypothesis.Three-dimensional point X to be correcteddWith the point X in real scenew
Transformational relation is as follows：
Wherein, riRepresent the i-th column vector of spin matrix R.
In this way, establish a homography H between point and its picture point in scaling board plane：
S2.5, solve light-field camera internal reference matrix P
Assuming that plane where scaling board falls in the Z in world coordinate systemwIn=0 plane, i-th of priori point is expressed as Xw,i
=(Xw,i,Yw,i,1)T, can be obtained with reference to formula 1, formula 5：
Wherein, MiFor 2mi× 4 matrix, includes Xw,iMiBar is from the decoded light of initial data.Stretched for H by row
12 × 1 matrix afterwards.hi=(h1i,h2i,h3i,h4i)TThe i-th column vector of homography matrix H is represented, by spin matrix R's
Orthogonality and uniformity can obtain：
Wherein,With representing P-TP-1, can obtain：
With six-vector q=(q11,q13,q23,q33,q34,q44)TRepresent symmetrical matrix Q, then have：
Untrivialo solution q=(q are can obtain using formula 1111,q13,q23,q33,q34,q44)T, proportionality factors lambda (λ q=q) is introduced,
Then obtainThe solution of all parameters：
S2.6, the external parameter for solving each image
By one group of given initial intrinsic parameterIt can obtain interior in real scene
ParameterAccording to homography matrix H and internal reference
Matrix P, calculates the outer parameter R of the i-th secondary original imagei, ti：
S3, nonlinear optimization
S3.1, processing radial distortion
Due to the optical characteristics of lens and the mismachining tolerance of lenticule, light inevitably produces distortion.Examine herein
Consider radial distortion of the light-field camera in two TPP coordinate systems：
Wherein, (xc,yc)T, (uc,vc)TDistortion for two plane starting points makes up value, (xd,yd)T,For distortion
Point,Parameter siAnd tiFor the scale factor that distorts.
S3.2, establish cost function
The corresponding outer parameter matrix of Intrinsic Matrix and each image of the light-field camera obtained as above arrived is all one again
All parameters without specific physical significance, can be carried out nonlinear optimization by a coarse solution by minimizing re-projection.
It is assumed herein that there is image of the n width on stencil plane, then cost function can be established：
Wherein xi,jRepresent the priori point X in imaging coordinate systemw,iPicpointed coordinate vector project on jth sub-picture, pi
For priori point Xw,iTotal projection number.RiIt is the spin matrix of the i-th width image, tiIt is the translation vector of the i-th width image.
S3.3, iteration try to achieve optimal solution
So that cost function minimumRi、ti、Xw,iIt is exactly the optimal solution of the problem, formula 15 is used
Levenberg-Marquardt algorithms seek its minimum, its initial estimation can utilize the result of linear solution in step S2.
Clearly as can be seen that computation sequence is projection matrix, inner parameter, external parameter successively, nonlinear optimization is finally carried out.
Claims (2)
1. a kind of light-field camera intrinsic parameter caliberating device, including light-field camera, scaling board, electronic control translation stage, motion controller with
And angle turntable, it is characterised in that：Light-field camera is fixed on electronic control translation stage, motion controller controls automatically controlled translation
Platform, drives light-field camera translation diverse location；Scaling board is placed in front of light-field camera main lens, and is fixed on angle turntable
On, motion controller control angle turntable, drives scaling board different rotation angle.
2. a kind of light-field camera intrinsic parameter scaling method using claim 1 described device, it is characterised in that including following steps
Suddenly：
1) double parallel areal model TPP coordinate systems are established, the light that light-field camera collects is described, then establishes and is based on
The projective transformation of TPP coordinate systems, 7 light-field camera intrinsic parameters for needing to demarcate are included in transformation matrix
2) one group of initial light-field camera intrinsic parameter is givenEstablish the point on stencil plane
Homography H between its picture point, and its solution is sought, light-field camera internal reference matrix P is obtained, by the homography square of each image
Battle array H and internal reference matrix P tries to achieve the external parameter of each image；
3) all parameters are carried out with nonlinear optimization, it is specific as follows：
3.1) single order and the second order radial distortion of camera lens are handled；
3.2) mobile light-field camera or rotation scaling board, shoot the scaling board under different postures, obtain n width images, and assume
The coordinate of each calibration point has independent identically distributed noise；Xw,iFor the priori point of the i-th width image in real scene, wherein xi,j
It is picpointed coordinate vector of i-th of object point on jth width image in three-dimensional scenic；By minimizing all measured value xi,jWith it
EstimateRe-projection error, obtain optimal solution.
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Application publication date: 20180504 |