An easy and high-precision camera calibration method based on planar five points

Jian-cheng ZOU; Nan-nan TIAN

doi:10.3788/OPE.20172503.0786

您当前的位置：

首页 >

文章列表页 >

An easy and high-precision camera calibration method based on planar five points

Information Sciences | 更新时间：2020-07-07

- An easy and high-precision camera calibration method based on planar five points
- Optics and Precision Engineering Vol. 25, Issue 3, Pages: 786-791(2017)
- 作者机构：
  
  北方工业大学图像处理与模式识别研究所, 北京 100144
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20172503.0786
  CLC： TP391.41
- Received：02 December 2016，
  
  Accepted：14 January 2017，
  
  Published：25 March 2017
- 稿件说明：
移动端阅览
Jian-cheng ZOU, Nan-nan TIAN. An easy and high-precision camera calibration method based on planar five points[J]. Optics and precision engineering, 2017, 25(3): 786-791.
DOI：

Jian-cheng ZOU, Nan-nan TIAN. An easy and high-precision camera calibration method based on planar five points[J]. Optics and precision engineering, 2017, 25(3): 786-791. DOI： 10.3788/OPE.20172503.0786.

摘要

为了进一步提高相机参数精度，简化标定过程，在张正友平面标定算法的基础上，提出了一种较简单的5点标定算法。本文利用一个矩形作为标定模板，将其4个角点和中心点作为待匹配点。仅利用不同角度拍摄的10（10~20幅均可）幅图像，即可求解全部相机内外参数。首先，为了减小数据对结果的影响，对获取的5个点的图像坐标进行归一化，将点坐标控制在以原点为中心，

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1754193&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1754193&type=small

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1754193&type=middle

为半径的圆内；其次，相机成像模型未考虑畸变，考虑到单应矩阵可能会有零元素，故按照9个自由度来求解；再次，求解出相机的内外参数，将求得结果的平均值作为非零因子

的值；最后利用Levenberg-Marquarat（LM）算法对所有内外参数进行整体优化。选用不同噪声水平的模拟实验和真实图像进行测试，结果显示该算法比张正友棋盘格算法的精度要高。

Abstract

A simpler 5-point calibration algorithm was proposed to further improve the accuracy of camera parameter and simplify the calibration process

on the basis of Zhang Zhengyou's plane calibration algorithm. In this method

a rectangle was used to serve as a calibration template and the four angular points and central point were selected as the points to be matched. All internal and external parameters could be solved with only 10 (10-20 all were ok) images shot in different angles. First

to decrease the influence of data on result

normalization shall be carried out for image coordinates of five points obtained

where the coordinate of point shall be controlled within the circle with the origin as the center and

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1754197&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1754197&type=small

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=1754197&type=middle

as the radius; then

because it didn't consider distortion in imaging model of camera but considered that there might have been zero element in homography

caculation was solved in accordance with 9 degrees of freedom; again

the internal and external parameters of camera were caculated and the value of non-zero divisor

was the mean of result acquired; finally

global optimization for internal and external parameters was carried out with Levenberg-Marquarat (LM) algorithm. Through simulation test with different levels of noise and test of true image

the accuracy of this algorithm is higher than Zhang Zhengyou's checkerboard algorithm.

关键词

Keywords

references

邱茂林, 马颂德, 李毅.计算机视觉中摄像机定标综述[J].自动化学报, 2000, 26(1):43-55.

QIU M L, MA S D, LI Y. Review of camera calibration for computer vision [J]. Acta Automatica Sinica, 2000, 26(1): 43-55.(in Chinese)

孟晓桥, 胡占义.摄像机自标定方法的研究与进展[J].自动化学报, 2003, 29(1):110-124.

MENG X Q, HU ZH Y. Recent progress in camera self-calibration [J]. Acta Automatica Sinica, 2003, 29(1): 110-124.(in Chinese)

吴剑, 王广志, 丁海曙, 等.三维测量系统中线性CCD相机的直接线性变换[J].清华大学学报:自然科学版, 2004, 44(6):860-863.

WU J, WANG G ZH, DING H SH, et al .. Direct linear transformation of linear CCD camera in three dimensional measurement system [J]. Journal of Tsinghua University: Natural Science Edition, 2004, 44 (6): 860-863.(in Chinese)

刘巍, 李肖, 马鑫, 等.采用复合式靶标的近景大视场相机标定方法[J].红外与激光工程, 2016, 45(7):230-236.

LIU W, LI X, MA X, et al .. A close range and large field calibration method using composite targets [J]. Infrared and Laser Engineering, 2016, 45(7):230-236.(in Chinese)

王澜, 孙博, 隆昌宇, 等.一种基于共线特征点的线阵相机内参标定方法[J].红外与激光工程, 2015, 44(6):1878-1883.

WANG L, SUN B, LONG CH Y, et al .. A novel method for calibrating intrinsic parameters of linear array camera based on collinear feature points [J]. Infrared and Laser Engineering, 2015, 44(6):1878-1883.(in Chinese)

赵亚凤, 胡峻峰.一种双正交消隐点的双目相机标定方法[J].液晶与显示, 2016, 31(10):958-966.

ZHAO Y F, HU J F.Binocular self calibration using two pairs of orthogonal vanishing points [J]. Chinese Journal of Liquid Crystals and Displays, 2016, 31(10):958-966.(in Chinese)

杨景豪, 刘巍, 刘阳, 等.双目立体视觉测量系统的标定[J].光学精密工程, 2016, 24(2):300-308.

YANG J H, LIU W, LIU Y, et al .. Calibration of binocular stereo vision measurement system [J]. Opt. Precision Eng., 2016, 24(2):300-308.(in Chinese)

ZHANG Z. A flexible new technique for camera calibration [J]. IEEE Transactions on Pattern Analysis & Machine Intelligence, 2000, 22(11):1330-1334.

文涛, 左东广, 李忠科, 等.一种鲁棒的高精度摄像机标定方法[J].计算机应用研究, 2015, 32(11):3489-3491.

WEN T, ZUO D G, LI ZH K, et al .. Robust accurate camera calibration method [J]. Application Research of Computers, 2015, 32(11): 3489-3491.(in Chinese)

孟晓桥, 胡占义.一种新的基于圆环点的摄像机自标定方法[J].软件学报, 2002, 13(5):957-965.

MENG X Q, HU ZH Y. A new easy camera calibration technique based on circular points [J]. Journal of Software, 2002, 13(5): 957-965.(in Chinese)

杨晓红, 曾峦, 翟优. 一种简易标定模板的摄像机标定方法[C]. 全国信号和智能信息处理与应用学术会议会刊, 2013.

YANG X H, ZENG L, ZHAI Y. A calibration method with simple camera calibration target [C]. Proceedings of the National Signal and Intelligent Information Processing and Application Academic Conference , 2013.(in Chinese)

陈西, 黎宁, 周建江.基于正方形模板的摄像机自标定新方法[J].信息通信, 2009, 22(1):27-30.

CHEN X, LI N, ZHOU J J. A new method of camera self calibration based on square template [J]. Information Communication, 2009, 22 (1): 27-30.(in Chinese)

张红艳, 郭海新.基于A4纸的摄像机标定算法[J].中国高新技术企业, 2010(1):14-15.

ZHANG H Y, GUO H X. A camera calibration algorithm based on A4 paper [J]. Chinese High-Tech Enterprises, 2010 (1): 14-15.(in Chinese)

HARTLEY R, ZISSERMAN A. Multiple view geometry in computer vision [J]. Cambridge University Press, 2006, 30(9-10):1865-1872.

ABDEL-AZIZ Y I, KARARA H M. Direct linear transformation from comparator coordinates into object space coordinates in close-range photogrammetry [C]. In Proceedings of the Symposium on Close-Range Photogrammetry, Falls Church, VA: American Society of Photogrammetry, 1971:1-18.

HARTLEY R I. In defense of the eight-point algorithm [J]. IEEE Transactions on Pattern Analysis & Machine Intelligence, 1997, 19(6):580-593.

SLABAUGH G G. Computing Euler angles from a rotation matrix [J]. Retrieved on August, 1999, 6(2000): 39-63.

Views

599

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Calibration of binocular camera with non-common field of view

Multi-view DLT three-dimensional positioning method for spatial points

Design of infrared target system with Zhang Zhengyou calibration method

Related Author

Yu-sheng LIU

Qin-wen LI

Shou-jun NI

Zhi-qian WANG

Jian-rong LI

Cheng-wu SHEN

Wen-chang YANG

Zuo-xi ZHAO

Related Institution

Beijing Institute of Space Launch Technology

University of Chinese Academy of Sciences

Institute of Optics， Fine Mechanics and Physics， Chinese Academy of Sciences

College of Engineering, South China Agricultural University

华南农业大学工程学院

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰