WO2020109033A1 - Procédé de détermination de paramètres d'étalonnage d'une caméra - Google Patents

Procédé de détermination de paramètres d'étalonnage d'une caméra Download PDF

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Publication number
WO2020109033A1
WO2020109033A1 PCT/EP2019/081504 EP2019081504W WO2020109033A1 WO 2020109033 A1 WO2020109033 A1 WO 2020109033A1 EP 2019081504 W EP2019081504 W EP 2019081504W WO 2020109033 A1 WO2020109033 A1 WO 2020109033A1
Authority
WO
WIPO (PCT)
Prior art keywords
calibration
camera
parameters
calibration pattern
recording
Prior art date
Application number
PCT/EP2019/081504
Other languages
German (de)
English (en)
Inventor
Raul Acuna
Volker Willert
Original Assignee
Technische Universität Darmstadt
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Technische Universität Darmstadt filed Critical Technische Universität Darmstadt
Publication of WO2020109033A1 publication Critical patent/WO2020109033A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T5/80—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image

Definitions

  • the invention relates to a method for determining calibration parameters of a camera.
  • extrinsic and intrinsic camera parameters or calibration parameters can be determined.
  • the intrinsic camera parameters are, in particular, a focal length of the camera, coordinates of one
  • the intrinsic camera parameters contain the distortion parameters of the lens used.
  • the extrinsic camera parameters are
  • Camera models contain unknown camera parameters calculated using the recorded scenes using known identification methods. With these methods one uses the knowledge of the arrangement as well as the
  • intrinsic parameters require that either the scene used contains depth information or that when using two-dimensional scenes, multiple shots of the scene from different directions and in
  • 3D calibration bodies as calibration patterns is known from the prior art, for example.
  • Calibration pattern is therefore particularly in the high density of high-contrast transitions in the used
  • the disadvantage here is the need to have to take several recordings in order to obtain sufficient depth information.
  • This object is achieved according to the invention by a method for determining calibration parameters of a camera, with a predetermined one in one display step
  • the calibration parameters are determined on the basis of the recording.
  • known 2D calibration patterns can be three-dimensional
  • the method according to the invention is advantageously carried out fully automatically and can be used, for example, in a camera production line, since manual calibration of the relative orientation of the camera to the three-dimensional represented on the surface
  • the method according to the invention can also be used to calibrate several connected cameras, so-called
  • Multi-camera systems such as those used for camera drones, are used.
  • Multi-camera systems such as those used for camera drones.
  • a three-dimensionally extending surface is provided for each camera of the multi-camera system, so that the method according to the invention can be carried out simultaneously for all cameras of the multi-camera system.
  • a relative pose of the several cameras is also determined.
  • Known two-dimensional calibration patterns are advantageously used for the calibration.
  • the two-dimensional calibration patterns are based on the geometry of the
  • Calibration pattern objects of the respective calibration pattern to be taken into account when later assigning image points of the recording to corresponding 3D coordinates of the calibration pattern.
  • the invention provides for the surface to be concavely curved in at least one direction. With concave curved surfaces, a particularly large amount of 3D information can be generated, with the
  • three-dimensional object or the surface used is particularly simple.
  • the surface is curved with a radius of curvature.
  • the surface is advantageously concavely curved in only one direction.
  • the use of such surfaces in the form of sections of a cylinder jacket enables particularly simple assignment of the two-dimensional calibration patterns in 3D coordinates.
  • the invention provides that the camera is aligned relative to the surface in such a way that an optical axis of the camera passes through a center of curvature and a
  • the optical axis is advantageously aligned perpendicular to the surface.
  • the method according to the invention can be implemented particularly simply in that the surface is a concavely curved screen.
  • Such curved displays are comparatively inexpensive and, despite the comparatively small depth, offer
  • the calibration pixels are generated by a projector. For this it is necessary to determine the relative arrangement of the projector and the surface before the start of the
  • the camera is arranged relative to the surface in such a way that the camera can capture the entire calibration pattern and the recording represents the calibration pattern as far as possible. In this way, in particular
  • Distortion parameters can be determined particularly precisely.
  • a relative position calculation step is carried out in the determination process, a relative position of the camera to the surface being determined on the basis of the known dimensions of the calibration pattern areas on the surface and the recording of the calibration pattern.
  • each recording image point being assigned to at least one calibration image point. Because of the known and predetermined arrangement of the different calibration pattern areas
  • Image rectification step is carried out in the determination process, wherein distortion parameters of the
  • Point extraction step assignment and the predetermined calibration pattern are determined and where the Distortion parameters represent calibration parameters.
  • Vector field used that specifies a displacement vector for the distortion for each pixel.
  • a distortion in the recording and the use of the distortion parameters is corrected and that a focal length and an optical center of the camera are determined using the corrected recording, these parameters forming further calibration parameters.
  • Figure 1 is a schematic representation of the sequence of the method according to the invention.
  • Representation step 1 is initially a predetermined one
  • Relative position calculation step 3 of a determination process determines position parameters 4 which characterize a relative position between the surface and a CCD chip used in the camera. In the determination process, a point extraction step 5 is carried out, in the point extraction step 5 corresponding calibration pixels are assigned to the recording pixels.
  • both the distortion parameters of the camera are determined and the distortion of the image by the determined ones
  • Distortion parameters are corrected.
  • the recording 7 corrected in this way is then used in a further step 8 of the determination process to determine the further calibration parameters.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé de détermination de paramètres d'étalonnage d'une caméra. Dans une étape de représentation (1), un motif d'étalonnage prédéfini est représenté par des points d'image d'étalonnage disposés sous forme de matrice sur une surface continue prédéfinie s'étendant de façon tridimensionnelle, de telle manière que des dimensions de zones de motif d'étalonnage du motif d'étalonnage prédéfini sont connues sur la surface prédéfinie. Une clarté et une couleur de chaque point d'image d'étalonnage sont prédéfinies électroniquement. Dans une étape de détection (2) faisant suite à l'étape de représentation (1), un enregistrement du motif d'étalonage est réalisé au moyen de la caméra. Dans un processus de détermination consécutif, les paramètres d'étalonnage sont déterminés sur la base de l'enregistrement.
PCT/EP2019/081504 2018-11-26 2019-11-15 Procédé de détermination de paramètres d'étalonnage d'une caméra WO2020109033A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018129814.5 2018-11-26
DE102018129814.5A DE102018129814A1 (de) 2018-11-26 2018-11-26 Verfahren zur Bestimmung von Kalibrierungsparametern einer Kamera

Publications (1)

Publication Number Publication Date
WO2020109033A1 true WO2020109033A1 (fr) 2020-06-04

Family

ID=68808288

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/081504 WO2020109033A1 (fr) 2018-11-26 2019-11-15 Procédé de détermination de paramètres d'étalonnage d'une caméra

Country Status (2)

Country Link
DE (1) DE102018129814A1 (fr)
WO (1) WO2020109033A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008082844A (ja) * 2006-09-27 2008-04-10 Matsushita Electric Ind Co Ltd 特徴点座標算出装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015103785A1 (de) * 2015-03-16 2016-09-22 Hochschule Offenburg Verfahren und Vorrichtung zur Kalibration einer Kamera
DE102017004859B4 (de) * 2017-05-19 2019-03-14 Daimler Ag Verfahren zum Kalibrieren einer Projektionsgeometrie eines Head-Up Displays und zugehörige Kalibriervorrichtung

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008082844A (ja) * 2006-09-27 2008-04-10 Matsushita Electric Ind Co Ltd 特徴点座標算出装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HEIKKILA J ET AL: "A four-step camera calibration procedure with implicit image correction", COMPUTER VISION AND PATTERN RECOGNITION, 1997. PROCEEDINGS., 1997 IEEE COMPUTER SOCIETY CONFERENCE ON SAN JUAN, PUERTO RICO 17-19 JUNE 1997, LOS ALAMITOS, CA, USA,IEEE COMPUT. SOC, US, 17 June 1997 (1997-06-17), pages 1106 - 1112, XP010237491, ISBN: 978-0-8186-7822-6, DOI: 10.1109/CVPR.1997.609468 *

Also Published As

Publication number Publication date
DE102018129814A1 (de) 2020-05-28

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