Self-calibration for a catadioptric camera
First Claim
1. A method for automatically calibrating a wide field-of-view camera, comprising using a sequence of omni-directional images obtained from the camera to automatically determine an optimal set of calibration parameters for the camera.
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Abstract
A method and a system for self-calibrating a wide field-of-view camera (such as a catadioptric camera) using a sequence of omni-directional images of a scene obtained from the camera. The present invention uses the consistency of pairwise features tracked across at least a portion of the image collection and uses these tracked features to determine unknown calibration parameters based on the characteristics of catadioptric imaging. More specifically, the self-calibration method of the present invention generates a sequence of omni-directional images representing a scene and tracks features across the image sequence. An objective function is defined in terms of the tracked features and an error metric (an image-based error metric in a preferred embodiment). The catadioptric imaging characteristics are defined by calibration parameters, and determination of optimal calibration parameters is accomplished by minimizing the objective function using an optimizing technique.
15 Citations
20 Claims
- 1. A method for automatically calibrating a wide field-of-view camera, comprising using a sequence of omni-directional images obtained from the camera to automatically determine an optimal set of calibration parameters for the camera.
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7. A computer-implemented process for self-calibrating a catadioptric camera, comprising:
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a capture step for capturing a sequence of images from the catadioptric camera;
a consistency step for determining a consistency of tracked features across at least a portion of the sequence of images; and
a calculating step for using the tracked features to find a set of optimal calibration parameters. - View Dependent Claims (8, 9, 10, 11)
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12. A computer-readable medium having computer-executable instructions for calibrating a catadioptric camera, comprising:
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capturing an image sequence using the catadioptric camera; and
automatically calibrating the catadioptric camera using the image sequence without a need for user input during the calibration process. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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Specification