High precision camera calibration:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | German |
| Published: |
Wiesbaden
Vieweg + Teubner
2011
|
| Edition: | 1. ed |
| Series: | Vieweg + Teubner research
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XII, 212 S. Ill., graph. Darst. |
| ISBN: | 9783834814135 |
Staff View
MARC
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| 100 | 1 | |a Hanning, Tobias |e Verfasser |0 (DE-588)124156118 |4 aut | |
| 245 | 1 | 0 | |a High precision camera calibration |c Tobias Hanning |
| 250 | |a 1. ed | ||
| 264 | 1 | |a Wiesbaden |b Vieweg + Teubner |c 2011 | |
| 300 | |a XII, 212 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
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| 490 | 0 | |a Vieweg + Teubner research | |
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Record in the Search Index
| _version_ | 1804143672946589696 |
|---|---|
| adam_text | Contents
List of symbols
.............................. xi
Introduction
1
1.1
Motivation
.............................. 1
1.2
Outline
............................... 2
1.3
Contribution
............................. 4
Modelling the camera mapping
5
2.1
Geometric optics for computer vision
............... 5
2.1.1
The thin lens assumption and first order optics
..... 5
2.1.2
The circle of confusion
................... 8
2.1.3
Image acquisition
...................... 9
2.1.3.1
The sensor array
................. 9
2.1.3.2
A simplified sensor model
......., . . , . 11
2.1.3.3
The sensor array as coordinate system
, , , , . 12
2.2
The pinhole camera model
........,......., . . , . 13
2.3
Third order optics and thick lenses
............. , , . . 15
2.4
The pinhole camera model with distortion
............. 17
2.4.1
Definition
....................... . . , 17
2.4.2
Radial distortion
...................... 18
2.4.3
Radius transformations
................... 19
2.4.4
Other distortion
fim
cti
ons .................
21
2.4.4.1
Misaligned thin lens
............... 21
2.4.4.2
Misaligned lens systems
............. 22
2.5
Inverting the camera mapping
................... 23
2.6
The pinhole camera model in homogeneous coordinates
...... 25
Error
functions for camera calibration and
3D
reconstruction
27
3.1
Introduction
............................. 27
3.2
Projective
and re-projective error
.................. 27
3.3
Euclidean error
........................... 29
3.4
Error functions for camera calibration and SD-reconstruction
... 34
3.4.1
Calibration error functions
................. 34
3.4.2
Reconstruction error functions
............... 37
3.5
Non-linear optimization
....................... 38
Initial values for camera calibration problems
40
4.1
Introduction
............................. 40
4.2
The two stage method of Tsai
.................... 42
4.3
An initial image transformation by direct linear transformation
. . 47
4.4
An initial image transformation from
homographies
........ 50
4.4.1
Introduction
......................... 50
4.4.2
Two necessary conditions for planar targets
........ 50
4.4.3
Zhang s initial value
.................... 52
4.4.4
An initial image transformation with known center and
zero skew
.......................... 54
4.4.5
An initial image transformation with known aspect ratio
and no skew
......................... 55
4.4.6
An initial image transformation with known aspect ratio
and unknown skew
..................... 56
4.4.7
An initial image transformation with no skew
....... 58
4.4.7.1
A straight forward constraint
.......... 58
4.4.7.2
A solution by a linear least squares problem
with Cholesky decomposition
.......... 59
4.4.8
Experimental results
.................... 60
4.4.8.1
Overview
.................... 60
4.4.8.2
Simulations
................... 61
4.5
An initial value for the extrinsic camera parameters
........ 64
4.5.1
Introduction and problem statement
............ 64
4.5.2
Standard pose estimation
.................. 64
4.5.3
An algebraic re-projective approach for regular grids
... 65
4.5.4
An optimal solution w.r.t. Euclidean error for ID targets
. 70
4.6
An initial solution for the distortion
................ 72
4.6.1
Introduction
......................... 72
4.6.2
Zhang s initial solution for the radial distortion
...... 72
4.6.3
An optimal initial solution for all distortion parameters
. . 74
4.7
Camera calibration with distortion as a semi-linear problem
. . . . 77
4.7.1
Parameter reduction by semi-linear optimization
..... 77
4.7.2
Experimental results
.................... 78
4.7.2.1
Results for the normal setup
........... 79
4.7.2.2
Results for the webcam setup
.......... 85
4.7.2.3
Results for the wide angle setup
......... 89
Calibration of a stereo camera system
91
5.1
Introduction
............................. 91
5.2 Epipolar
geometry
......................... 91
5.3 Epipolar
Curves
........................... 95
5.4
Stereo camera calibration with multiple targets
.......... 97
5.5
Extrinsic stereo camera calibration with generalized
epipolar
con¬
straints
................................ 98
5.5.1
A two step algorithm
.................... 98
5.5.2
A one step algorithm
.................... 100
5.5.3
Application and results
................... 101
5.6
Extrinsic stereo camera calibration with respect to the
projective
error
................................. 103
5.7
Extrinsic and intrinsic stereo camera calibration
.......... 105
Non-standard camera models
107
6.1
Introduction
............................. 107
6.2
Feature point extraction
....................... 110
6.2.1
Standard feature point extraction
.............. 110
6.2.2
Model based extraction of isolated squares
........ 113
6.2.3
Appropriability of the feature point extraction methods
. , 117
6.2.3.1
Appropriability with respect to the sensor model
117
6.2.3.2
Appropriability with respect to the camera model
117
6.3
The residual distortion
....................... 119
6.3.1
The point spread function by first order optics
....... 119
6.3.2
Other sources of residual distortion
............ 126
6.3.3
Experimental results
.................... 126
6.4
Spline correction
.......................... 134
6.4.1
Motivation and related work
................ 134
6.4.2
A depth-dependent distortion term
............. 134
6.4.3
Depth-dependent distortion correction for the protective
and re-projective error function
.............. 135
6.4.4
The tensor spline space
................... 135
6.4.5
Tensor splines for the re-projective depth-dependent dis¬
tortion
............................ 137
6.4.6
Spline correction for the Euclidean error
.......... 138
6.4.7
The viewing ray for spline corrected cameras
....... 139
6.4.8
Spline correction for stereo reconstruction
......... 139
6.4.9
Disadvantages of the spline correction
........... 140
6.5
A two-plane distortion model
.................... 144
6.5.1
Motivation and related work
................ 144
6.5.2
The plane {z
= -1}.................... 145
6.5.3
Distortion mappings in {z
— 1}
and {z
= -1}...... 146
6.5.4
The re-projection w.r.t. the two-plane distortion
...... 147
6.5.5
Error functions for the two-plane distortion model
.... 148
6.5.5.1
The
projective
error
............... 149
6.5.5.2
The Euclidean error
............... 149
6.5.5.3
The projected Euclidean error
.......... 150
6.5.5.4
The normalized Euclidean error
......... 150
6.5.5.5
Depth-dependence of the two-plane distortion
model
...................... 153
6.5.6
Calibration algorithm
.................... 155
6.6
A generic multi-plane camera
.................... 156
6.6.1
Introduction and related work
............... 156
6.6.2
From the image to a reference coordinate system
..... 156
6.6.3
Tensor spline approximation of the coordinate transfor¬
mation
........................... 159
6.6.4
A calibration setup for the generic multi-plane camera
. . 159
6.7
Experimental results
........................ 161
6.7.1
Setup
............................ 161
6.7.1.1
Calibration setup for the standard camera model
161
6.7.1.2
Calibration setup for the spline correction
... 161
6.7.1.3
Calibration setup for the two-plane distortion
model
...................... 161
6.7.2
Results for spline corrected cameras
............ 162
6.7.2.1
Prototype reconstruction
............. 162
6.7.2.1.1
In-plane spline correction
....... 162
6.7.2.1.2 3d
spline correction
.......... 164
6.7.2.2
Stereo
reconstruction
.............. 171
6.7.3
Results for the two-plane distortion
model
......... 173
6.7.3.1
Stereo reconstruction
.............. 173
6.7.3.2
Point to point error
................ 173
6.7.3.3
Angles of reconstructed planes
......... 177
6.7.3.4
Other test series
................. 180
6.7.3.5
Planarity test
................... 187
6.7.3.6
Prototype reconstruction
............. 192
7
Conclusions
197
|
| any_adam_object | 1 |
| author | Hanning, Tobias |
| author_GND | (DE-588)124156118 |
| author_facet | Hanning, Tobias |
| author_role | aut |
| author_sort | Hanning, Tobias |
| author_variant | t h th |
| building | Verbundindex |
| bvnumber | BV036952128 |
| classification_rvk | ST 330 ZQ 6270 |
| ctrlnum | (OCoLC)692162456 (DE-599)DNB1004159552 |
| dewey-full | 006.37 |
| dewey-hundreds | 000 - Computer science, information, general works |
| dewey-ones | 006 - Special computer methods |
| dewey-raw | 006.37 |
| dewey-search | 006.37 |
| dewey-sort | 16.37 |
| dewey-tens | 000 - Computer science, information, general works |
| discipline | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. ed |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV036952128 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:51:23Z |
| institution | BVB |
| isbn | 9783834814135 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-020867166 |
| oclc_num | 692162456 |
| open_access_boolean | |
| owner | DE-739 DE-92 DE-703 DE-859 |
| owner_facet | DE-739 DE-92 DE-703 DE-859 |
| physical | XII, 212 S. Ill., graph. Darst. |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | Vieweg + Teubner |
| record_format | marc |
| series2 | Vieweg + Teubner research |
| spelling | Hanning, Tobias Verfasser (DE-588)124156118 aut High precision camera calibration Tobias Hanning 1. ed Wiesbaden Vieweg + Teubner 2011 XII, 212 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Vieweg + Teubner research Zugl.: Passau, Univ., Habil.-Schr., 2009 Geometrische Optik (DE-588)4020241-0 gnd rswk-swf Kamera (DE-588)4366655-3 gnd rswk-swf Kalibrieren Messtechnik (DE-588)4198763-9 gnd rswk-swf Maschinelles Sehen (DE-588)4129594-8 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Maschinelles Sehen (DE-588)4129594-8 s Kamera (DE-588)4366655-3 s Kalibrieren Messtechnik (DE-588)4198763-9 s Geometrische Optik (DE-588)4020241-0 s DE-604 Digitalisierung UB Passau application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020867166&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Hanning, Tobias High precision camera calibration Geometrische Optik (DE-588)4020241-0 gnd Kamera (DE-588)4366655-3 gnd Kalibrieren Messtechnik (DE-588)4198763-9 gnd Maschinelles Sehen (DE-588)4129594-8 gnd |
| subject_GND | (DE-588)4020241-0 (DE-588)4366655-3 (DE-588)4198763-9 (DE-588)4129594-8 (DE-588)4113937-9 |
| title | High precision camera calibration |
| title_auth | High precision camera calibration |
| title_exact_search | High precision camera calibration |
| title_full | High precision camera calibration Tobias Hanning |
| title_fullStr | High precision camera calibration Tobias Hanning |
| title_full_unstemmed | High precision camera calibration Tobias Hanning |
| title_short | High precision camera calibration |
| title_sort | high precision camera calibration |
| topic | Geometrische Optik (DE-588)4020241-0 gnd Kamera (DE-588)4366655-3 gnd Kalibrieren Messtechnik (DE-588)4198763-9 gnd Maschinelles Sehen (DE-588)4129594-8 gnd |
| topic_facet | Geometrische Optik Kamera Kalibrieren Messtechnik Maschinelles Sehen Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020867166&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT hanningtobias highprecisioncameracalibration |