计算机视觉课件12.ppt

Course 12 Calibration Course 12 Calibration 1.Introduction In theoretic discussions, we have assumed: ----- Camera is located at the origin of coordinate system of scene. ----- Optic axis of camera is pointing in z-direction of scene coordinates. ----- Image plane is to perpendicular to z-axis with origin at (f, 0, 0) ----- X and Y axes of image coordinates are parallel to x and y axes of scene coordinates, respectively. ----- No any distortions for camera, i.e. pinhole camera model. * * 1) What we need to calibrate: ----- Absolute orientation: between two coordinate systems, e.g.,robot coordinates and model coordinates. ----- Relative orientation: between two camera systems. ----- Exterior orientation: between camera and scene systems ----- Interior orientation: within a camera, such as camera constant, principal point, lens distortion, etc. 2) Coordinate systems: ----- scene coordinates (global coordinates, world coordinates, absolute coordinates). ----- Camera coordinates. ----- Image coordinate systems ----- Pixel coordinates For a image of size m×n, image center 2. Absolute orientation: To find out relationship between two coordinate systems from 3 or more 3D points that have expressed in the two coordinate systems. Let a 3D point p is expressed by in model coordinate system. in absolute coordinate system. Then: where R is rotation of model coordinate corresponding to absolute coordinates; is the origin of model coordinate system in the absolute coordinate system. Given: We want to find: It is the same expression as 3D motion estimates from 3D points. Therefore, all the algorithms of motion estimation (using 3D points) can be used to solve for absolute orientation. One should remember the constraint of rotation matrix that is orthogonal matrix, i.e. This adds 6 additional equations in solving for rotation. 1) Solve rotation with quaternion: O