D Vision.pptVIP

3D Vision Topic 3 of Part II Calibration Lecture Outline Calibration: Find the intrinsic and extrinsic parameters Problem and assumptions Direct parameter estimation approach Projection matrix approach Direct Parameter Estimation Approach Basic equations (from Lecture 5) Estimating the Image center using vanishing points SVD (Singular Value Decomposition) and Homogeneous System Focal length, Aspect ratio, and extrinsic parameters Discussion: Why not do all the parameters together? Projection Matrix Approach (…after-class reading) Estimating the projection matrix M Computing the camera parameters from M Discussion Comparison and Summary Any difference? Problem and Assumptions Given one or more images of a calibration pattern, Estimate The intrinsic parameters The extrinsic parameters, or BOTH Issues: Accuracy of Calibration How to design and measure the calibration pattern Distribution of the control points to assure stability of solution – not coplanar Construction tolerance one or two order of magnitude smaller than the desired accuracy of calibration e.g. 0.01 mm tolerance versus 0.1mm desired accuracy How to extract the image correspondences Corner detection? Line fitting? Algorithms for camera calibration given both 3D-2D pairs Alternative approach: 3D from un-calibrated camera Camera Model Coordinate Systems Frame coordinates (xim, yim) pixels Image coordinates (x,y) in mm Camera coordinates (X,Y,Z) World coordinates (Xw,Yw,Zw) Camera Parameters Intrinsic Parameters (of the camera and the frame grabber): link the frame coordinates of an image point with its corresponding camera coordinates Extrinsic parameters: define the location and orientation of the camera coordinate system with respect to the world coordinate system Linear Version of Perspective Projection World to Camera Camera: P = (X,Y,Z)T World: Pw = (Xw,Yw,Zw)T Transform: R, T Camera to Image Camera: P = (X,Y,Z)T Image: p = (x,y)T Not linear equations Image to Frame Neglecting distortio