Calibration system for image capture apparatus and method thereof

• US 20070196016A1
• Filed: 07/11/2006
• Published: 08/23/2007
• Est. Priority Date: 02/21/2006
• Status: Abandoned Application

• Current Assignee: National Chiao Tung University (Government of The Republic of China)
• Original Assignee: National Chiao Tung University (Government of The Republic of China)
• Inventors: Wang, Sheng-Jyh, Chen, I-Hsien
• Application Number:
  US11/483,542
• Publication Number:
  US 20070196016A1
• Time in Patent Office: Days
• US Class Current: 382/190
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

A calibration system and a method to be used in an image capture apparatus are disclosed. The calibration system includes a calibration appliance, a feature extraction unit and a processor. The calibration appliance has a plurality of mark points. The plurality of mark points is on the same plane to form a line segment with a known length. The image capture apparatus captures an image. Then based on the captured image, the feature extraction unit extracts at least three image feature points corresponding to the mark points. The processor calculates the inclination angle of the image capture apparatus, and the height between the image capture apparatus and the plane. Besides a line segment with a known length, the mark points corresponding to the image feature points may form a corner with a known angle, two corners with unknown but equal angles, or two line segments with unknown but equal lengths. Convenience for the calibration system is therefore improved.

Claims

1. A calibration system to be used in an image capture apparatus, comprising:

a calibration appliance with a plurality of mark points, said plurality of mark points being on the same plane, said plurality of mark points forming a line segment with a known length;

a feature extraction unit extracting at least three image feature points corresponding to said plurality of mark points from at least one image captured by said image capture apparatus, said image having said plurality of mark points; and

a processor calculating the inclination angle of said image capture apparatus and the height between said image capture apparatus and said plane based on said at least three image feature points and said known lengths;

wherein said plurality of mark points corresponding to said image feature points forms a corner with a known angle, two corners with unknown but equal angles, or two line segments with unknown but equal lengths.

2. The calibration system of claim 1, wherein said plurality of mark points forms an unknown angle, and said image capture apparatus captures the images of said calibration appliance placed at different positions on said plane, and said feature extraction unit extracts said image feature points from said images.

3. The calibration system of claim 1, wherein said calibration appliance has two mark points, and said image capture apparatus captures the images of said calibration appliance placed at different positions on said plane, and said feature extraction unit extracts said image feature points from said images.

4. The calibration system of claim 1, wherein said image capture apparatus is a camera.

5. The calibration system of claim 1, wherein said calibration appliance is a paper, a table or a traffic sign drawn on a road surface.

6. The calibration system of claim 5, wherein said plurality of mark points is the corners of said paper.

7. The calibration system of claim 5, wherein said plurality of mark points is the corners of said table.

8. The calibration system of claim 5, wherein said plurality of mark points is the corners of said traffic sign drawn on the road surface.

9. The calibration system of claim 1, wherein said feature extraction unit is accomplished by a microprocessor executing software.

10. A calibration system to be used in a plurality of image capture apparatuses, comprising:

a calibration appliance with a plurality of mark points, said plurality of mark points being on the same plane, and said plurality of mark points forming a line segment with a known length;

a feature extraction unit extracting at least three image feature points corresponding to said plurality of mark points from at least one image captured by said image capture apparatus, said image having said plurality of mark points;

a first arithmetic unit calculating the inclination angle of said image capture apparatus and the height between said image capture apparatus and said plane based on said at least three image feature points and said known length; and

a second arithmetic unit determining two mark points commonly captured by each pair of said image capture apparatuses, and calculating the rotation angle and the position translation between said plurality of image capture apparatuses based on said image feature points corresponding to said mark points, said inclination angles and said heights of said plurality of image capture apparatuses;

wherein said plurality of mark points corresponding to said image feature points forms a corner with a known angle, two comers with unknown but equal angle or two line segments with unknown but equal length.

11. The calibration system of claim 10, wherein said plurality of mark points forms an unknown angle, and said image capture apparatus captures the images of said calibration appliance placed at different positions on said plane, and said feature extraction unit extracts said image feature points from said images.

12. The calibration system of claim 10, wherein said calibration appliance has two mark points, and said image capture apparatus captures the images of said calibration appliance placed at different positions on said plane, and said feature extraction unit extracts said image feature points from said images.

13. The calibration system of claim 10, wherein said calibration apparatus is a camera.

14. The calibration system of claim 10, wherein said calibration appliance is a paper, a table or a traffic sign drawn on a road surface.

15. The calibration system of claim 14, wherein said plurality of mark points is the comers of said paper.

16. The calibration system of claim 14, wherein said plurality of mark points is the corners of said table.

17. The calibration system of claim 14, wherein said plurality of mark point is the corners of said traffic sign drawn on the road surface.

18. The calibration system of claim 10, wherein said feature extraction unit is accomplished by a microprocessor executing software.

19. A calibration method to be used in a plurality of image capture apparatuses, comprising:

(a) disposing a calibration appliance with a plurality of mark points, said plurality of mark points being on the same plane, and said plurality of mark points forming a line segment with a known length, and a corner with a known angle, two corners with unknown but equal angles or two line segments with unknown but equal lengths;

(b) capturing at least one image having said plurality of mark points by an image capture apparatus, said an image capture apparatus not being calibrated.

(c) extracting at least three image feature points corresponding to said plurality of mark points from said at least one image;

(d) calculating the inclination angle of said image capture apparatus, and the height between said image capture apparatus and said plane based on said at least three image feature points and said known length;

(e) repeating steps (b), (c) and (d) to calculate said inclination angles and said heights of said plurality of image capture apparatuses;

(f) determining two mark points commonly captured by each pair of said image capture apparatuses, and calculating the rotation angle and the position translation between said plurality of image capture apparatuses based on said image feature points corresponding to said mark points, said inclination angles and said heights of said plurality of image capture apparatuses.

20. The calibration method of claim 19, further comprising the step of capturing the images of said calibration appliance placed at different positions on said plane if said plurality of mark points forms an unknown angle, and extracting image feature points based on said images.

21. The calibration method of claim 19, further comprising the step of capturing the images of said calibration appliance placed at different positions on said plane when said calibration appliance with two mark points.

22. The calibration method of claim 19, further comprising the step of providing cameras to be said plurality of image capture apparatuses.

23. The calibration method of claim 19, further comprising the step of providing a paper, a table or a traffic sign drawn on a road surface.

24. The calibration method of claim 23, further comprising the step of providing the corners of said paper to be said mark points.

25. The calibration method of claim 23, further comprising the step of providing the corners of said table to be said mark points.

26. The calibration method of claim 23, further comprising the step of providing the corners of said traffic sign drawn on the road surface to be said mark points.

27. The calibration method of claim 19, further comprising the step of providing a microprocessor executing software to accomplish said feature extraction unit.