Planar Calibration Target Research Articles

High-accuracy vanishing-constraints-based calibration of fringe projection vision sensor

In fringe projection profilometry (FPP), calibration of the vision sensor is crucial to ensure the accuracy of three-dimensional (3D) shape measurement. However, due to correspondence errors of planar calibration target (PCT) 3D points and its image points, and low mapping accuracy between projector pixels and camera pixels, traditional calibration methods based on the PCT sometimes cannot provide reliable and accurate results. Aiming at these problems, a high-accuracy calibration method based on vanishing constraints for fringe projection vision sensor (FPVS) is proposed in this paper. The intrinsic parameters are calibrated using the constraints of vanishing points, the rotation matrix is calibrated using the constraints of vanishing lines, and the optimal calibration parameters are estimated by the objective function established based on the 2D and 3D constraints of feature points. Experimental results demonstrated the performance of our calibration method.

Joint Calibration of a Multimodal Sensor System for Autonomous Vehicles

Multimodal sensor systems require precise calibration if they are to be used in the field. Due to the difficulty of obtaining the corresponding features from different modalities, the calibration of such systems is an open problem. We present a systematic approach for calibrating a set of cameras with different modalities (RGB, thermal, polarization, and dual-spectrum near infrared) with regard to a LiDAR sensor using a planar calibration target. Firstly, a method for calibrating a single camera with regard to the LiDAR sensor is proposed. The method is usable with any modality, as long as the calibration pattern is detected. A methodology for establishing a parallax-aware pixel mapping between different camera modalities is then presented. Such a mapping can then be used to transfer annotations, features, and results between highly differing camera modalities to facilitate feature extraction and deep detection and segmentation methods.

Infrared Camera Geometric Calibration: A Review and a Precise Thermal Radiation Checkerboard Target

Different infrared (IR) planar geometric calibration targets have been developed over the years that exploit a well-established and flexible optical camera geometric calibration procedure following the pinhole approximation. This geometric calibration is typically neglected in IR cameras, due to the relatively low resolution of thermal images and the complex IR targets needed for the geometric calibration in comparison to the optical targets. In this study, a thorough literature review of numerous IR camera geometric calibration targets, along with their respective outcomes, were summarized and leveraged to deliver a practical checkerboard target for less experienced end users, while offering the lowest reprojection errors. It was concluded that the fabrication of high emissivity contrast and precise square points of intersection within a checkerboard pattern extends the accuracy of capturing these control points in a thermal image for an optimized IR camera geometric calibration. Accordingly, two simple planar checkerboard targets were fabricated using laser engraving and ultraviolet (UV) printing technologies on a polished stainless steel (SS304) plate. The UV-printed checkerboard target on a polished metallic alloy delivered the lowest mean reprojection error (MRE) of 0.057 pixels and the lowest root mean square error (RMSE) of reprojection of 0.063 pixels, with a standard deviation lower than 0.003 pixels. The UV-printed design offers better accuracy than any other checkerboard calibration target, and comparable results to the best prominent circular pattern results reported in the literature.

A unified calibration method of 3D laser profile measurement with different of laser-line lengths

PurposeExisting calibration methods mainly focus on the camera laser-plane calibration of a single laser-line length, which is not convenient and cannot guarantee the consistency of the results when several three-dimensional (3D) scanners are involved. Thus, this study aims to provide a unified step for different laser-line length calibration requirements for laser profile measurement (LPM) systems.Design/methodology/approach3D LPM is the process of converting physical objects into 3D digital models, wherein camera laser-plane calibration is critical for ensuring system precision. However, conventional calibration methods for 3D LPM typically use a calibration target to calibrate the system for a single laser-line length, which needs multiple calibration patterns and makes the procedure complicated. In this paper, a unified calibration method was proposed to automatically calibrate the camera laser-plane parameters for the LPM systems with different laser-line lengths. The authors designed an elaborate planar calibration target with different-sized rings that mounted on a motorized linear platform to calculate the laser-plane parameters of the LPM systems. Then, the camera coordinates of the control points are obtained using the intersection line between the laser line and the planar target. With a new proposed error correction model, the errors caused by hardware assembly can be corrected. To validate the proposed method, three LPM devices with different laser-line lengths are used to verify the proposed system. Experimental results show that the proposed method can calibrate the LPM systems with different laser-line lengths conveniently with standard steps.FindingsThe repeatability and accuracy of the proposed calibration prototypes were evaluated with high-precision workpieces. The experiments have shown that the proposed method is highly adaptive and can automatically calibrate the LPM system with different laser-line lengths with high accuracy.Research limitations/implicationsIn the repeatability experiments, there were errors in the measured heights of the test workpieces, and this is because the laser emitter had the best working distance and laser-line length.Practical implicationsBy using this proposed method and device, the calibration of the 3D scanning laser device can be done in an automatic way.Social implicationsThe calibration efficiency of a laser camera device is increased.Originality/valueThe authors proposed a unified calibration method for LPM systems with different laser-line lengths that consist of a motorized linear joint and a calibration target with elaborately designed ring patterns; the authors realized the automatic parameter calibration.

Determination of relative position of antenna system and RGB-D sensor in combined microwave imaging system

Microwave imaging technique allows obtaining images of hidden objects in structures and media using microwaves. This technique has various applications such as: nondestructive testing, medical imaging, concealed weapon detection, through-the-wall imaging, etc. Obtaining radar images in these applications is based on processing phase and amplitude of the reflected signal recorded over an aperture (a microwave hologram). Recently, systems began to appear in which the radar part is supplemented by an RGB-D sensor, which allows to obtain new capabilities. For example, there is the a microwave screening system architecture in which inverse synthetic aperture is formed by the natural motion of the subject in the vicinity of a stationary linear antenna array. The microwave system is complemented with an synchronous RGB-D video sensor which captures the trajectory of the moving subject in 3D and allows coherent processing of the radar signal. Another system detects objects buried under irregular surface and uses RGB-D sensor for capturing the surface relief for suppressing reflection of the sounding signal from the surface. Calibration between a radar and an RGB-D sensor is an essential process for microwave and optical data fusion. This article presents a novel approach for calibration, using a planar calibration target which is made of radiotransparent material (such a foam plastic sheet) with square marker and six small metal balls embedded in target surface and representing point objects. The proposed method exploits 3D-3D correspondences between coordinates of point objects in two coordinate systems associated to the sensor and to the radar. One points set is extracted from optical data, using marked corners of the target as a base points. Second points set is obtained from microwave data as local maxima of 3D volume of data reconstructed from one-frequency microwave hologram. Computer modeling were performed using Autodesk 3ds Max software by which models of all components of the system were built and the optical image from the sensor was modeled. Test experiments were carried out using a measurement system composed of the following components: a compact vector network analyzer (VNA), two mechanical scanners with stepper motors, one transmitting and one receiving horn antennas, mounted on the VNA, an RGB-D sensor, a microcontroller board, and a computer. The high accuracy of the method is confirmed both by computer modeling and physical experiment. The accuracy of determination of relative position between the radar and the sensor is about one fifth of the signal wavelength used.

Camera calibration using synthetic random speckle pattern and digital image correlation

Accurate camera calibration is of fundamental importance to various vision-based 3D metrological techniques. Despite camera calibration methods using regular planar calibration targets (e.g., checkerboard or circular pattern) have been widely adopted, their accuracy is less-than-desirable due to the limited number and the low registration accuracy of control points. This work presents an alternative calibration method that uses a calibration target based on a synthetic random speckle pattern. Specifically, a set of regularly distributed control points is first specified on the synthetic speckle pattern displayed on a monitor. These control points are then precisely matched to their counterparts on the captured calibration images using the state-of-the-art digital image correlation (DIC) algorithm. Compared with the existing camera calibration methods, the proposed method possesses the advantages of much more effective control points, higher control point match accuracy, which lead to more accurate and precise estimation of camera parameters. To evaluate the performance of the proposed calibration method, simulated calibration tests using images with varied noise levels and real calibration tests were performed on the planar calibration targets using speckle, circular and checkerboard patterns. The influences of various DIC calculation parameters (i.e. the number of control points and the subset size) on calibration results are also studied using noiseless simulated images. The reprojection errors on synthetic noiseless images and real images are computed as 0.004 and 0.038 pixels, respectively, confirming the high calibration accuracy delivered by the proposed method.

平面标定靶标标记点的圆心提取

平面标定靶标标记点的圆心提取

Automated calibration of multi-camera-projector structured light systems for volumetric high-speed 3D surface reconstructions.

It is challenging to calibrate multiple camera-projector pairs for multi-view 3D surface reconstruction based on structured light. Here, we present a new automated calibration method for high-speed multi-camera-projector systems. The method uses printed and projected dot patterns on a planar calibration target, which is moved by hand in the calibration volume. Calibration is enabled by automated image processing and bundle-adjusted parameter optimization. We determined the performance of our method by 3D reconstructing a sphere. The accuracy is -0.03 ± 0.09 % as a percentage of the diameter of the calibration volume. Applications include quality control, autonomous systems, engineering measurements, and motion capture, such as the preliminary 3D reconstruction of a bird in flight we present here.

Multicamera rig calibration by double‐sided thick checkerboard

A multi‐camera rig calibration algorithm based on a double sided planar target is proposed. Due to their inherently simple realisation, low cost and accuracy, planar calibration targets came out as one of the most largely adopted calibration tools both for intrinsic and extrinsic camera parameters. However, concerning the estimation of extrinsic parameters, one of the major drawbacks of these targets is their requirement for distinct target visibility from both cameras. This prevents many configurations from being adopted where, e.g. two cameras are facing each other. An inexpensive solution could be based on printing/pasting a planar pattern on both target sides, however, the relative misalignment between the patterns on the two sides and the target thickness could be unknown. The authors propose a solution where double‐sided target displacement error is estimated together with the extrinsic parameters allowing the reuse of all the available planar calibration tools in less constrained configurations. To assess their approach the authors tested the system in two scenarios, one using two professional 4K cameras and one using two smartphones.

On the design of a fractal calibration pattern for improved camera calibration

Abstract Camera calibration, crucial for computer vision tasks, often relies on planar calibration targets to calibrate the camera parameters. This work describes the design of a planar, fractal, self-identifying calibration pattern, which provides a high density of calibration points for a large range of magnification factors. An evaluation on ground truth data shows that the target provides very high accuracy over a wide range of conditions.

An improved method for location of concentric circles in vision measurement

Abstract Target with concentric circles has been widely used in camera calibration and vision measurement systems. An improved method to accurately locate the real projection of the concentric circles center has been proposed in this paper. Compared with similar methods, this method is computational efficiency and has no requirement of the concentric circles’ radii. Several simulations have been carried out to explore the influence of image noises, rotation angle, inner radius, outer radius and circle number to the center location accuracy, and several quantitative or semi-quantitative conclusions have been obtained, which can guide the optimum design of concentric circle target. Verification experiment was designed and result shows it is about 0.0891 pixel in accuracy and has promoted the computational efficiency scores of times. Moreover, a planar calibration target was designed and used to calibrate a binocular stereovision system, and test result shows the RMS error of the system has been improved to 0.0284 mm.

TOWARDS THE INFLUENCE OF A CAR WINDSHIELD ON DEPTH CALCULATION WITH A STEREO CAMERA SYSTEM

Abstract. Stereo camera systems in cars are often used to estimate the distance of other road users from the car. This information is important to improve road safety. Such camera systems are typically mounted behind the windshield of the car. In this contribution, the influence of the windshield on the estimated distance values is analyzed. An offline stereo camera calibration is performed with a moving planar calibration target. In a standard procedure bundle adjustment, the relative orientation of the cameras is estimated. The calibration is performed for the identical stereo camera system with and without a windshield in between. The base lengths are derived from the relative orientation in both cases and are compared. Distance values are calculated and analyzed. It can be shown, that the difference of the base length values in the two cases is highly significant. Resulting effects on the distance calculation up to a half meter occur.

TOWARDS THE INFLUENCE OF A CAR WINDSHIELD ON DEPTH CALCULATION WITH A STEREO CAMERA SYSTEM

Stereo camera systems in cars are often used to estimate the distance of other road users from the car. This information is important to improve road safety. Such camera systems are typically mounted behind the windshield of the car. In this contribution, the influence of the windshield on the estimated distance values is analyzed. An offline stereo camera calibration is performed with a moving planar calibration target. In a standard procedure bundle adjustment, the relative orientation of the cameras is estimated. The calibration is performed for the identical stereo camera system with and without a windshield in between. The base lengths are derived from the relative orientation in both cases and are compared. Distance values are calculated and analyzed. It can be shown, that the difference of the base length values in the two cases is highly significant. Resulting effects on the distance calculation up to a half meter occur.

Rectify Oblique Multi-view Image with a Planar Calibration Target for In-plane Displacement and Strain Fields

In this paper, we demonstrate a 3D projective transformation to rectify oblique multi-view image with a planar calibration target for in-plane displacement and strain field measurement. The multi-camera semi-circular DIC system captures oblique multi-view image from three different view angles. Produce front view image from oblique projective image. The front view image can be analyzed by the DIC method to extract the in-plane displacement and strain field. The displacement can also be computed from contour maps obtained before and after the in-plane translation motion of rigid body. The experimental results show the measurement method is implemented to rectify oblique multi-view image for in-plane displacement and strain field.

Three dimensional geometry characterization using structured light

In this paper I review several studies related with the development of the doctoral thesis of Paulo J. Tavares. The thesis was directed at implementing different three-dimensional surface acquisition methods with structured light fields and essentially describes these implementations, and the difficulties experienced thereof. Several innovative works have been done in the areas of 3D imaging with active image processing, Fourier transform phase analysis, coherent light fringe projection, phase-to-height calibration in phase measurement profilometry, feature detection in planar calibration targets for camera calibration and; fringe distortion correction resourcing to the Optical Transfer Function. This paper presents the main results obtained in those studies which were all performed at LOME - the Optics and Experimental Mechanics Laboratory of the Mechanical Engineering department of Porto University.

Research on camera calibration using new optimization strategy

AbstractAn important task for stereo vision is camera calibration, whose goal is to obtain the intrinsic and extrinsic parameters of each camera. This paper proposes a new accurate calibration method with multilevel process of camera parameters. In order to improve the calibration accuracy, a sub-pixel corner detection method is presented. We start with several views of a planar calibration to obtain some intrinsic camera parameters and to build an accurate model with lens distortion on a planar calibration target. Flexibly making use of geometry imaging theory, our algorithm obtains all the parameters through logical organization of solving order, accordingly avoids obtaining possible local optimized problem when solving the non-linear equation, gets over the relativity influence of every unknown parameters of traditional calibration way, and makes the error distributed among the constraint relation of parameters. Experiments with real images are carried out to verify the image correction effect and numerical robustness of our results. Compared with classical calibration techniques, that use expensive equipment and complicated mathematical computation, the proposed technique, which was verified by experiment, achieves high accuracy and reliable parameters.

Optical Reconstruction of High-Speed Surface Dynamics in an Uncontrollable Environment

The ability to communicate with our voice can be regarded as the concatenation of the two processes "phonation" and "modulation." These take place in the larynx and palatal and oral region, respectively. During phonation the audible primary voice signal is created by mutual reaction of vocal folds with the exhaled air stream of the lungs. The underlying interactions of masses, fluids and acoustics have yet to be identified and understood. One part of the primary signal's acoustical source are vortex induced vibrations, as e.g., created by the Coandăeffect in the air stream. The development of these vorteces is determined by the shape and 3-D movements of the vocal folds in the larynx. Current clinical in vivo research methods for vocal folds do not deliver data of satisfactory quality for fundamental research, e.g., an endoscope is limited to 2-D image information. Based hereupon, a few improved methods have been presented, however delivering only selective 3-D information, either for a single point or a line. This stands in contrast to the 3-D motions of the entire vocal fold surface. More complex imaging methods, such as MRI, do not deliver information in real-time. Thus, it is necessary to develop an easily applicable, more improved examination method, which allows for 3-D data of the vocal folds surfaces to be obtained. We present a method to calibrate a 3-D reconstruction setup including a laser projection system and a high-speed camera. The setup is designed with miniaturization and an in vivo application in mind. The laser projection system generates a divergent grid of 196 laser dots by diffraction gratings. It is calibrated with a planar calibration target through planar homography. In general, the setup allows to reconstruct the topology of a surface at high frame rates (up to 4000 frames per second) and in uncontrollable environments, as e.g., given by the lighting situation (little to no ambient light) and varying texture (e.g., varying grade of reflection) in the human larynx. In particular, this system measures the 3-D vocal fold surface dynamics during phonation. Applied to synthetic data, the calibration is shown to be robust (error approximately 0.5 μm) regarding noise and systematic errors. Experimental data gained with a linear z -stage proved that the system reconstructs the 3-D coordinates of points with an error at approximately 15 μm. The method was applied exemplarily to reconstruct porcine and artificial vocal folds' surfaces during phonation. Local differences such as asymmetry between left and right fold dynamics, as well as global parameters, such as opening and closing speed and maximum displacements, were identified and quantified.

Multiresolution three-dimensional measurement system with multiple cameras and light sectioning method

A multiresolution 3-D measurement system using multiple cameras and a light sectioning method is developed to measure complex-profile objects for which other optical measuring methods are less suited. The system is composed of four cameras, which can select different system parameters to measure the whole profile and some details of an object at the same time. Thus, the system has a multiresolution measuring feature. We mainly focus on the imaging system model, system calibration, and the data merging method, and furthermore propose a calibration method with a self-designed planar calibration target and a data merging algorithm based on empirical mode decomposition. Experimental results show that position uncertainty of a measured point within the section plane is less than 0.06 mm in a 80×80-mm2 measurement range. The system is employed to measure a blade and a gear with relatively satisfactory results.

Assessment of camera models for use in planar velocimetry calibration

The performance of three implementations of pinhole-based camera models for use in common light-sheet imaging arrangements is investigated on the background of application to particle image velocimetry (PIV) and Doppler global velocimetry (DGV). Calibration data obtained from translated planar calibration targets was found to yield camera attitude within 0.1° on four different test cases with object distance varying as little as 2% depending on the choice of camera model. Camera calibration using data from a single image of coplanar points is considered a viable alternative to manual triangulation of camera positions but is restricted to off-normal viewing directions.