Engineering Approach of Camera Calibration

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林友祥(Yu-hsiang Lin ) 查詢紙本館藏

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機械工程研究所

論文名稱

Engineering Approach of Camera Calibration
(Engineering Approach of Camera Calibration)

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摘要(英)

Camera calibration is the necessary procedure before utilizing digital cameras (or CCDs). Based on the assumption of pinhole camera model, conventional approach of camera calibration is to solve the extrinsic and intrinsic parameters simultaneously. In general, the whole process is very complicated and not guaranteed to obtain reasonable parameters. To simplify the calibration process and get reliable camera parameters, we use accurate position control to identify the extrinsic parameters while Levenberg-Marquardt method is implemented to optimize the intrinsic parameters. From experimental results, we discuss the reasons of parameters variance for real and imperfect images. To prove the accuracy of calibrated results, camera parameters are used to reconstruct 2D image directly from 3D object. Furthermore, the concept is also extended to stereo vision. It is shown that the calibration of binocular cameras system increases the accuracy of 3D metrology extremely.

關鍵字(中)

關鍵字(英)

★ camera calibration
★ CCD
★ Levenbe
★ stereo vision

論文目次

Contents I
List of Figures III
Chapter1 Introduction 1
1.1Motivation 1
1.2Associated researches review1
1.3The structure of the thesis3
Chapter2 Systemic Structure 5
2.1Experimental setup 5
2.1.1Rotating device and controller5
2.1.2Calibrated object 7
2.2Program development 8
2.2.1Development environment 8
2.2.2Program functions 8
2.3Image processing 9
2.4Optimization method 11
2.4.1Sum of Least-Square problem11
2.4.2Quadratic function 12
2.4.3Optimization method 12
Chapter3 Camera Calibration 15
3.1The procedure of camera calibration 15
3.2Modeling 15
3.3Coordinates information acquisition 22
3.3.13D coordinates measurement 22
3.3.22D corresponding coordinates extraction22
3.4Solve camera parameters 24
3.5Camera Calibration experiments 26
Chapter4 Experimental Results Discussion and Error Analysis 30
4.1Parameters discussion 30
4.2Experiments based on different conditions30
4.2.1Non-parallel objective scene 30
4.2.2Variance of the center of focal plane37
4.2.3Focal length and distortion effect 41
4.3Image reconstruction 42
4.3.1Rebuild image from parameters 43
4.3.2Predict image from parameters 46
4.3.2.1Reconstruct other coordinates 46
4.3.2.2Reconstruct another image 48
4.4Noise and artificial measurement error50
Chapter5 Camera Calibration of Binocular Camera System 52
5.1Binocular system 52
5.1.1Derivation of stereo image formation system 52
5.1.2Pattern match algorithm of stereo images 56
5.1.2.1Correlation 56
5.1.2.2Feature match by Sobel result accumulation 57
5.2Binocular cameras calibration procedure 59
5.33D metrology experiments 59
5.3.1Experiments with 25 mm lens 59
5.3.2Experiments with 8 mm lens 61
5.4Critical factors to metrology 63
Chapter6 Conclusion65
6.1Conclusion65
6.2Future work66
Flowchart1:The procedure of camera calibration67
Flowchart2:The procedure of getting 2D coordinates68
Flowchart3:The procedure of pattern match using correlation 69
Flowchart4:The procedure of pattern match using feature vectors 70
Flowchart5:The procedure of binocular camera calibration 71
Reference72

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指導教授

黃衍任(Yean-Ren Hwang)

審核日期

2001-7-3

推文