CAMERA CALIBRATION SYSTEM AND COORDINATE DATA GENERATION SYSTEM AND METHOD THEREOF

• US 20110128388A1
• Filed: 04/06/2010
• Published: 06/02/2011
• Est. Priority Date: 12/01/2009
• Status: Abandoned Application

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Lan, Kung-Ming, Pai, Hung-I, Chen, Yi-Yuan, Hung, Shang-Chih, Yuan, Chii-Yah
• Application Number:
  US12/754,617
• Publication Number:
  US 20110128388A1
• Time in Patent Office: Days
• US Class Current: 348/187
• CPC Class Codes: G01B 11/03 by measuring coordinates of points
• CPC Class Codes: G01B 21/042 Calibration or calibration artifacts G01B3/30, G01B9/02072 take precedence
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30232 Surveillance
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

A camera calibration system including a coordinate data generation device and a coordinate data recognition device is provided. The coordinate data generation device generates a plurality of map coordinate data corresponding to a plurality of real positions in a real scene. The coordinate data recognition device receives an image plane of the real scene from a camera to be calibrated and receives the map coordinate data from the coordinate data generation device. Besides, the coordinate data recognition device recognizes image positions corresponding to the real positions in the image plane and calculates image coordinate data corresponding to the image positions. Moreover, the coordinate data recognition device calculates a coordinate transform matrix corresponding to the camera according to the image coordinate data and the map coordinate data. Thereby, the camera calibration system can finish the calibration of the camera quickly.

Claims

1. A camera calibration system, comprising:

at least one coordinate data generation device, disposed in a real scene, for generating a plurality of map coordinate data respectively corresponding to a plurality of different real positions on a ground plane of the real scene according to a map coordinate system; and

a coordinate data recognition device, electrically connected to a camera, for receiving an image plane of the real scene from the camera and receiving the map coordinate data from the coordinate data generation device,

wherein the coordinate data recognition device recognizes an image position corresponding to each of the real positions on the image plane and calculates an image coordinate data corresponding to each of the image positions according to an image coordinate system of the image plane,

wherein the coordinate data recognition device calculates a coordinate transform matrix corresponding to the camera according to the image coordinate data and the map coordinate data.

2. The camera calibration system according to claim 1, wherein the coordinate data generation device comprises:

a physical information capturing unit, for capturing physical information between a reference point and the real positions in the real scene;

a controller, electrically connected to the physical information capturing unit, for generating and encoding the map coordinate data according to the physical information between the reference point and the real positions in the real scene; and

a light emitting unit, electrically connected to the controller, for generating a

light source and transmitting the encoded map coordinate data.

3. The camera calibration system according to claim 2, wherein the coordinate data recognition device comprises:

a light source positioning unit, for recognizing the light source generated by the light emitting unit to obtain the image coordinate data;

a light emitting signal decoding unit, electrically connected to the light source positioning unit, for decoding the encoded map coordinate data according to the light source generated by the light emitting unit; and

a coordinate transform calculation unit, electrically connected to the light source positioning unit and the light emitting signal decoding unit, for calculating the coordinate transform matrix corresponding to the camera according to the image coordinate data and the map coordinate data.

4. The camera calibration system according to claim 2, wherein the physical information capturing unit comprises an accelerometer for measuring accelerations of moving from the reference point to the real positions in the real scene,

wherein the controller calculates displacements of the real positions according to the accelerations of moving from the reference point to the real positions in the real scene measured by the accelerometer and generates the map coordinate data corresponding to the real positions according to the displacements of the real positions.

5. The camera calibration system according to claim 2 further comprising a feature point positioning unit disposed on the reference point,

wherein the feature point positioning unit emits a laser, measures relative distances and relative angles of the real positions through the laser, and transmits the relative distances and the relative angles of the real positions.

6. The camera calibration system according to claim 5, wherein the physical information capturing unit receives the laser and the relative distances and the relative angles of the real positions from the feature point positioning unit,

wherein the controller calculates the map coordinate data respectively according to the relative distances and the relative angles of the real positions.

7. The camera calibration system according to claim 5, wherein the feature point positioning unit comprises:

a laser emitting unit, for rotating and emitting the laser;

a distance detection unit, for detecting an emitted distance of the laser to measure the relative distances of the real positions;

an angle detection unit, for detecting an emitted angle of the laser to measure the relative angles of the real positions; and

a wireless transmission unit, for transmitting the relative distances and the relative angles of the real positions.

8. The camera calibration system according to claim 6, wherein the physical information capturing unit comprises:

a laser receiving unit, for receiving the layer; and

a wireless transmission unit, for receiving the relative distances and the relative angles of the real positions.

9. The camera calibration system according to claim 1, wherein the coordinate transform matrix is a homograph matrix.

10. The camera calibration system according to claim 1, wherein the map coordinate system is a longitude/latitude coordinate system or a 2-degree transverse Mercator (TM2) coordinate system.

11. A camera calibration method, comprising:

disposing at least one coordinate data generation device in a real scene;

obtaining an image plane corresponding to the real scene by using a camera;

automatically generating a plurality of map coordinate data corresponding to a plurality of different real positions on a ground plane of the real scene according to a map coordinate system by using the at least one coordinate data generation device;

transmitting the map coordinate data corresponding to the real positions by using the at least one coordinate data generation device;

recognizing an image position corresponding to each of the real positions in the image plane;

calculating an image coordinate data corresponding to each of the image positions according to an image coordinate system of the image plane;

receiving the map coordinate data corresponding to the real positions; and

calculating a coordinate transform matrix corresponding to the camera according to the image coordinate data and the map coordinate data.

12. The camera calibration method according to claim 11, wherein the step of transmitting the map coordinate data corresponding to the real positions by using the at least one coordinate data generation device comprises:

encoding the map coordinate data; and

transmitting the encoded map coordinate data by using at least one light source emitted by the at least one coordinate data generation device.

13. The camera calibration method according to claim 12, wherein the step of receiving the map coordinate data corresponding to the real positions comprises:

receiving the at least one light source emitted by the at least one coordinate data generation device and decoding the encoded map coordinate data.

14. The camera calibration method according to claim 12, wherein the step of recognizing the image position corresponding to each of the real positions in the image plane comprises:

recognizing the image position corresponding to each of the real positions in the image plane according to the at least one light source emitted by the at least one coordinate data generation device.

15. The camera calibration method according to claim 11, wherein the step of automatically generating the map coordinate data corresponding to the real positions on the ground plane of the real scene according to the map coordinate system by using the at least one coordinate data generation device comprises:

measuring accelerations of moving from a reference point to the real positions in the real scene by using the at least one coordinate data generation device;

calculating displacements of the real positions to the reference point in the real scene according to the accelerations; and

generating the map coordinate data corresponding to the real positions according to the displacements of the real positions to the reference point in the real scene.

16. The camera calibration method according to claim 11, wherein the step of automatically generating the map coordinate data corresponding to the real positions on the ground plane of the real scene according to the map coordinate system by using the at least one coordinate data generation device comprises:

disposing a feature point positioning unit on a reference point in the real scene to emit a light source;

detecting relative distances and relative angles between the real positions and the reference point through the light source by using the feature point positioning unit; and

calculating the map coordinate data according to the relative distances and the relative angles between the real positions and the reference point.

17. The camera calibration method according to claim 11, wherein the coordinate transform matrix is a homograph matrix.

18. The camera calibration method according to claim 11, wherein the map coordinate system is a longitude/latitude coordinate system or a TM2 coordinate system.

19. A coordinate data generation system, comprising:

a physical information capturing unit, for capturing physical information between a reference point in a real scene and a real position in the real scene; and

a controller, electrically connected to the physical information capturing unit, for generating a map coordinate data corresponding to the real position in a map coordinate system according to the physical information between the reference point and the real position.

20. The coordinate data generation system according to claim 19 further comprising:

a light emitting unit, electrically connected to the controller, for generating a light source,

wherein the controller encodes the map coordinate data, and the light emitting unit transmits the encoded map coordinate data through the light source.

21. The coordinate data generation system according to claim 19, wherein the physical information capturing unit comprises an accelerometer for measuring an acceleration of moving from the reference point to the real position in the real scene,

wherein the controller calculates a displacement of the real position according to the acceleration of moving from the reference point to the real position in the real scene measured by the accelerometer and generates the map coordinate data corresponding to the real position according to the displacement of the real position.

22. The coordinate data generation system according to claim 19 further comprising a feature point positioning unit disposed on the reference point,

wherein the feature point positioning unit emits a laser, measures a relative distance and a relative angle of the real position through the laser, and transmits the relative distance and the relative angle of the real position.

23. The coordinate data generation system according to claim 22, wherein the physical information capturing unit receives the laser and the relative distance and the relative angle of the real position from the feature point positioning unit,

wherein the controller calculates the map coordinate data corresponding to the real position according to the relative distance and the relative angle of the real position.

24. The coordinate data generation system according to claim 22, wherein the feature point positioning unit comprises:

a laser emitting unit, for rotating and emitting the laser;

a distance detection unit, for detecting an emitted distance of the laser so as to measure the relative distance of the real position;

an angle detection unit, for detecting an emitted angle of the laser so as to measure the relative angle of the real position; and

a wireless transmission unit, for transmitting the relative distance and the relative angle of the real position.

25. The coordinate data generation system according to claim 23, wherein the physical information capturing unit comprises:

a laser receiving unit, for receiving the laser; and

a wireless transmission unit, for receiving the relative distance and the relative angle of the real position.

26. The coordinate data generation system according to claim 19, wherein the map coordinate system is a longitude/latitude coordinate system or a TM2 coordinate system.

27. A coordinate data generation method, comprising:

disposing a coordinate data generation device in a real scene; and

automatically capturing physical information between a reference point in the real scene and a real position in the real scene and generating a map coordinate data corresponding to the real position in a map coordinate system according to the physical information by using the coordinate data generation device.

28. The coordinate data generation method according to claim 27 further comprising:

encoding the map coordinate data; and

generating a light source and transmitting the encoded map coordinate data through the light source by using the coordinate data generation device.

29. The coordinate data generation method according to claim 27, wherein the step of automatically capturing the physical information between the reference point in the real scene and the real position in the real scene and generating the map coordinate data corresponding to the real position in the map coordinate system according to the physical information by using the coordinate data generation device comprises:

measuring an acceleration of moving from the reference point to the real position in the real scene;

calculating a displacement of the real position according to the acceleration; and

generating the map coordinate data corresponding to the real position according to the displacement of the real position.

30. The coordinate data generation method according to claim 27, wherein the step of automatically capturing the physical information between the reference point in the real scene and the real position in the real scene and generating the map coordinate data corresponding to the real position in the map coordinate system according to the physical information by using the coordinate data generation device comprises:

disposing a feature point positioning unit on the reference point to emit a light source;

detecting a relative distance and a relative angle between the real positions and the reference point through the light source by using the feature point positioning unit; and

calculating the map coordinate data corresponding to the real position according to the relative distance and the relative angle between the real position and the reference point.

31. The coordinate data generation method according to claim 27, wherein the map coordinate system is a longitude/latitude coordinate system or a TM2 coordinate system.