Paracatadioptric camera calibration based on properties of polar line of infinity point with respect to circle and line

Yuanzhen Li,Yue Zhao

doi:10.1177/1729881418803856

Abstract

Two linear calibration methods based on space-line projection properties for a paracatadioptric camera are presented. Considering the central catadioptric system, a straight line is projected into a circle on the viewing spherical surface for the first projection. The tangent lines in a group at antipode point pairs with respect to the circle are parallel, with the infinity point being the intersection point; therefore, the infinity line can be obtained from two groups of antipode point pairs. Further, the direction of the polar line of an infinity point with respect to the circle is orthogonal to the direction of its infinity point. Hence, on the imaging plane, images of the circular points or orthogonal vanishing points are used to determine the intrinsic parameters. On the basis of the properties of the antipodal point pairs and a least-squares fitting, a corresponding optimization algorithm for line image fitting is proposed. Experimental results demonstrate the robustness of the two calibration methods, that is, for images of the circular points and orthogonal vanishing points.

Highlights

The rapid development of computer vision technology has caused an increase in the stringency of visual performance requirements.[1]
Through an analysis of the projection properties of one line for a paracatadioptric camera, the manner in which the properties of the polar line of the infinity point with respect to a circle can be used for the calibration of a paracatadioptric camera is explained, which corresponds to proposition 3 and proposition 4 in the following
A camera calibration algorithm is often related to a vanishing point or an image of circular points

Summary

Introduction

The rapid development of computer vision technology has caused an increase in the stringency of visual performance requirements.[1]. We briefly review the projection process of a central catadioptric system with the unity sphere model,[6] the relationship of the antipodal image points,[15] and the properties of the polar line of the infinity point with respect to a circle.[24]. C. through an analysis of the projection properties of one line for a paracatadioptric camera, the manner in which the properties of the polar line of the infinity point with respect to a circle can be used for the calibration of a paracatadioptric camera is explained, which corresponds to proposition 3 (for orthogonal vanishing points) and proposition 4 (for imaged circular points) in the following. Step 6: Determine K by performing the inverse via Cholesky factorization of v

Experiments

Conclusion

Declaration of conflicting interests