Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras
Autor(a) principal: | |
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Data de Publicação: | 2007 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10316/13607 https://doi.org/10.1117/1.2752493 |
Resumo: | This paper tackles the problem of the quadric mirror estimation of omnidirectional imaging systems, as well as the poses of the camera relative to the mirror and to the world reference system. These estimates are obtained for quadric-shaped mirrors (including elliptic, parabolic, hyperbolic and spherical mirrors) where the position of the camera and mirror is unconstrained (fully non central configurations). The apparent contour of the mirror can be used to reduce the uncertainty in the estimation. Although it can enhance both the accuracy of the estimation (allowing the method to converge from farther initial configurations) and also its performance, its use is not strictly required. The intrinsic parameters of the camera model (pinhole or orthographic) are assumed to be known as well as the structure of a calibration object in local coordinates. The method is nonlinear and we use a genetic algorithm in conjunction with the Nelder-Mead simplex algorithm to minimize the objective function. Experimental results using real data are presented demonstrating the accuracy of this calibration method, comparing accuracy with and without the apparent contour and computing the reprojection error. As the mirror quadric is estimated, this method can also be used to identify and classify the mirror. |
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Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric CamerasMirror shape recoveryCatadioptric imagingCamera pose estimationMirror pose estimationThis paper tackles the problem of the quadric mirror estimation of omnidirectional imaging systems, as well as the poses of the camera relative to the mirror and to the world reference system. These estimates are obtained for quadric-shaped mirrors (including elliptic, parabolic, hyperbolic and spherical mirrors) where the position of the camera and mirror is unconstrained (fully non central configurations). The apparent contour of the mirror can be used to reduce the uncertainty in the estimation. Although it can enhance both the accuracy of the estimation (allowing the method to converge from farther initial configurations) and also its performance, its use is not strictly required. The intrinsic parameters of the camera model (pinhole or orthographic) are assumed to be known as well as the structure of a calibration object in local coordinates. The method is nonlinear and we use a genetic algorithm in conjunction with the Nelder-Mead simplex algorithm to minimize the objective function. Experimental results using real data are presented demonstrating the accuracy of this calibration method, comparing accuracy with and without the apparent contour and computing the reprojection error. As the mirror quadric is estimated, this method can also be used to identify and classify the mirror.The International Society for Optical Engineering2007info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/13607http://hdl.handle.net/10316/13607https://doi.org/10.1117/1.2752493engOptical Engineering. 46:7 (2007)0091-3286Gonçalves, NunoAraújo, Helderinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2020-11-06T17:00:10Zoai:estudogeral.uc.pt:10316/13607Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:57:55.184572Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
title |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
spellingShingle |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras Gonçalves, Nuno Mirror shape recovery Catadioptric imaging Camera pose estimation Mirror pose estimation |
title_short |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
title_full |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
title_fullStr |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
title_full_unstemmed |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
title_sort |
Low-Cost Method for the Estimation of the Shape of Quadric Mirrors and Calibration of Catadioptric Cameras |
author |
Gonçalves, Nuno |
author_facet |
Gonçalves, Nuno Araújo, Helder |
author_role |
author |
author2 |
Araújo, Helder |
author2_role |
author |
dc.contributor.author.fl_str_mv |
Gonçalves, Nuno Araújo, Helder |
dc.subject.por.fl_str_mv |
Mirror shape recovery Catadioptric imaging Camera pose estimation Mirror pose estimation |
topic |
Mirror shape recovery Catadioptric imaging Camera pose estimation Mirror pose estimation |
description |
This paper tackles the problem of the quadric mirror estimation of omnidirectional imaging systems, as well as the poses of the camera relative to the mirror and to the world reference system. These estimates are obtained for quadric-shaped mirrors (including elliptic, parabolic, hyperbolic and spherical mirrors) where the position of the camera and mirror is unconstrained (fully non central configurations). The apparent contour of the mirror can be used to reduce the uncertainty in the estimation. Although it can enhance both the accuracy of the estimation (allowing the method to converge from farther initial configurations) and also its performance, its use is not strictly required. The intrinsic parameters of the camera model (pinhole or orthographic) are assumed to be known as well as the structure of a calibration object in local coordinates. The method is nonlinear and we use a genetic algorithm in conjunction with the Nelder-Mead simplex algorithm to minimize the objective function. Experimental results using real data are presented demonstrating the accuracy of this calibration method, comparing accuracy with and without the apparent contour and computing the reprojection error. As the mirror quadric is estimated, this method can also be used to identify and classify the mirror. |
publishDate |
2007 |
dc.date.none.fl_str_mv |
2007 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10316/13607 http://hdl.handle.net/10316/13607 https://doi.org/10.1117/1.2752493 |
url |
http://hdl.handle.net/10316/13607 https://doi.org/10.1117/1.2752493 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Optical Engineering. 46:7 (2007) 0091-3286 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
The International Society for Optical Engineering |
publisher.none.fl_str_mv |
The International Society for Optical Engineering |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799133869323059200 |