Camera model and calibration procedure for omnidirectional paraboloidal catadioptric cameras
First Claim
1. A method of calibrating an omnidirectional camera comprising:
- collecting calibration points using the omnidirectional camera; and
determining at least one correction factor based on the plurality of calibration points, each correction factor being used to correct a deviation of the omnidirectional camera from an ideal camera model.
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Abstract
A paraboloidal catadioptric camera is calibrated by relaxing the assumption of an ideal system to account for perspective projection, radial distortion, and mirror misalignment occurring within the camera system. Calibration points, which are small and visually distinct objects, are distributed at fixed locations within an environment. Omnidirectional images are captured by the catadioptric camera at different locations of the environment. Data points are obtained by identifying the location of the calibration points in each captured image. An optimization algorithm best-fits the data points to a perspective camera model in order to derive parameters, which are used to calibrate the catadioptric camera.
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Citations
19 Claims
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1. A method of calibrating an omnidirectional camera comprising:
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collecting calibration points using the omnidirectional camera; and
determining at least one correction factor based on the plurality of calibration points, each correction factor being used to correct a deviation of the omnidirectional camera from an ideal camera model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19)
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15. A system for calibrating an omnidirectional camera comprising:
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data storage device for storing images recorded using the omnidirectional camera;
extracting means for extracting calibration points from the stored images; and
processing means for determining at least one correction factor based on the plurality of calibration points, each correction factor being used to correct a deviation of the omnidirectional camera from an ideal camera model.
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18. A method for modeling an omnidirectional camera, which is configured to record images reflected by an attached convex paraboloidal mirror onto an image plane, the method comprising:
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defining at least one model parameter including at least one of an effective convergence distance of reflected light rays from the mirror, a camera-to-world translation, a camera-to-world rotation, a radial distortion, and an uncertainty scale factor;
optimizing the at least one model parameter to best-fit a set of calibration points obtained using the omnidirectional camera, the calibration points comprising a set of visually distinct features of fixed location within an environment of the omnidirectional camera.
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Specification