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    Calibration: Thanks To Ramani Duraiswami and Zhengyou Zhang For The Use of Some Slides

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    David Lichaa
    This document discusses camera calibration techniques. It describes using precisely known 3D points as the traditional approach but notes it is expensive. An alternative method is proposed that uses a single planar surface with a printed pattern. Images of the pattern from different orientations allow solving for the camera intrinsics and extrinsics. With multiple images, there are more constraints than unknowns, leading to an analytic solution followed by maximum likelihood estimation refinement.

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    Calibration: Thanks To Ramani Duraiswami and Zhengyou Zhang For The Use of Some Slides

    Uploaded by

    David Lichaa
    57 views38 pages
    This document discusses camera calibration techniques. It describes using precisely known 3D points as the traditional approach but notes it is expensive. An alternative method is proposed that uses a single planar surface with a printed pattern. Images of the pattern from different orientations allow solving for the camera intrinsics and extrinsics. With multiple images, there are more constraints than unknowns, leading to an analytic solution followed by maximum likelihood estimation refinement.

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    calibrationlecture.pptx

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    This document discusses camera calibration techniques. It describes using precisely known 3D points as the traditional approach but notes it is expensive. An alternative method is proposed that uses a single planar surface with a printed pattern. Images of the pattern from different orientations allow solving for the camera intrinsics and extrinsics. With multiple images, there are more constraints than unknowns, leading to an analytic solution followed by maximum likelihood estimation refinement.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    57 views38 pages

    Calibration: Thanks To Ramani Duraiswami and Zhengyou Zhang For The Use of Some Slides

    Uploaded by

    David Lichaa
    This document discusses camera calibration techniques. It describes using precisely known 3D points as the traditional approach but notes it is expensive. An alternative method is proposed that uses a single planar surface with a printed pattern. Images of the pattern from different orientations allow solving for the camera intrinsics and extrinsics. With multiple images, there are more constraints than unknowns, leading to an analytic solution followed by maximum likelihood estimation refinement.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 38

    CALIBRATION

    Thanks to Ramani Duraiswami and


    Zhengyou Zhang for the use of some
    slides
    Shortcomings
    Use precisely known 3D points

    Shortcomings: Not flexible


    very expensive to make such a calibration
    apparatus.
    Zhangs approach
    Use only one plane
    Print a pattern on a paper
    Attach the paper on a planar surface
    Show the plane freely a few times to the camera
    Camera Model

    x
    M y
    z
    (u0 , v0 )

    m
    C
    (R, t )

    x
    u u0 y
    s v 0 v0 r1 r2 r3 t
    z
    1 0 0 1 R t


    1
    ~
    m A ~
    M
    Plane projection
    For convenience, assume the plane at z = 0.
    x
    u M
    v y
    (u0 , v0 )
    z0
    m
    C

    The relation between image points and


    model points is then given by:
    ~ ~ with H Ar r t
    sm HM 1 2
    What do we get from one image?
    We can obtain two equations in 6
    intermediate homogeneous parameters.

    Given H, which is defined up to a scale factor,


    And let H h1 h 2 h3 , we have
    h1 h2 h3 Ar1 r2 t
    This yields
    T T 1
    h1 A A h 2 0
    T T 1 T T 1
    h1 A A h1 h 2 A A h 2
    Linear Equations
    B11 B12 B13
    Let B A T A 1 B21 B22 B23

    symmetric
    B31 B32 B33
    Define
    b B11 B12 B22 B13 B23 B33
    up to a scale factor
    Rewrite
    h1T A T A 1h 2 0
    h1T A T A 1h1 hT2 A T A 1h 2
    as linear equations:
    Mb 0
    What do we get from 2 images?
    If we impose = 0, which is usually the case
    with modern cameras, we can solve all the
    other camera intrinsic parameters.

    How about more images?


    Better! More constraints than unknowns.
    Solution
    Show the plane under n different orientations
    (n > 1)
    Estimate the n homography matrices
    (analytic solution followed by MLE)
    Solve analytically the 6 intermediate
    parameters (defined up to a scale factor)
    Extract the five intrinsic parameters
    Compute the extrinsic parameters
    Refine all parameters with MLE

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