Camera calibration apparatus and method, image processing apparatus and method, program providing medium, and camera
First Claim
1. A camera calibration apparatus for calculating a parameter representative of a characteristic of a camera, comprising:
- image inputting means for inputting a picked-up image obtained by taking a photograph of a pattern with a predefined geometrical configuration through the use of a camera;
image holding means for holding a base image comprising said pattern with said predefined geometrical configuration; and
transformation parameter calculating means for calculating a transformation parameter on the basis of the association in pixel between said picked-up image and said base image to minimize luminance error between corresponding pixels of both said picked-up image and base image.
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Abstract
The present invention relates to a high-performance camera calibration apparatus and method capable of accomplishing stable high-accuracy parameter estimation. A pattern whose geometrical configuration is known in advance is photographed by a camera to generate a picked-up image, with the generated picked-up image being temporarily stored as an image input in a frame buffer. In addition, a base image having a pattern univocally corresponding in geometrical configuration definition to the picked-up image is generated according to the CG technology or the like, and is stored in another frame buffer. An image registration is made between the base image and the picked-up image to minimize the luminance error, which enables the parameter estimation.
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Citations
41 Claims
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1. A camera calibration apparatus for calculating a parameter representative of a characteristic of a camera, comprising:
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image inputting means for inputting a picked-up image obtained by taking a photograph of a pattern with a predefined geometrical configuration through the use of a camera;
image holding means for holding a base image comprising said pattern with said predefined geometrical configuration; and
transformation parameter calculating means for calculating a transformation parameter on the basis of the association in pixel between said picked-up image and said base image to minimize luminance error between corresponding pixels of both said picked-up image and base image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A camera calibration method of calculating a parameter representative of a characteristic of a camera, comprising:
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an image inputting step of inputting a picked-up image obtained by taking a photograph of a pattern with a predefined geometrical configuration through the use of a camera;
an image holding step of holding a base image comprising said pattern with said predefined geometrical configuration; and
a transformation parameter calculating step of calculating a transformation parameter on the basis of the association in pixel between said picked-up image and said base image to minimize luminance error between corresponding pixels of both said picked-up image and base image. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. An image processing apparatus for processing a plurality of images picked up by a camera, comprising:
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image inputting means for inputting a picked-up image obtained by taking a photograph of a pattern with a predefined geometrical configuration through the use of a camera;
image holding means for holding a base image comprising said pattern with said predefined geometrical configuration;
transformation parameter calculating means for calculating a transformation parameter on the basis of the association in pixel between said picked-up image and said base image to minimize luminance error between corresponding pixels of both said picked-up image and base image; and
arithmetic means for obtaining the association in pixel among a plurality of picked-up images obtained by said camera through the use of the calculated transformation parameter. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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30. An image processing method of processing a plurality of images picked up by a camera, comprising:
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an image inputting step of inputting a picked-up image obtained by taking a photograph of a pattern with a predefined geometrical configuration through the use of a camera;
an image holding step of holding a base image comprising said pattern with said predefined geometrical configuration;
transformation parameter calculating step of calculating a transformation parameter on the basis of the association in pixel between said picked-up image and said base image to minimize luminance error between corresponding pixels of both said picked-up image and base image; and
an arithmetic step of obtaining the association in pixel among a plurality of picked-up images obtained by said camera through the use of the calculated transformation parameter. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39)
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40. A computer-readable program providing medium for providing, in a material computer-readable form, a computer program for implementing, on a computer system, a camera calibration to calculate a parameter representative of a characteristic of a camera, said computer program comprising:
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an image inputting step of inputting a picked-up image obtained by taking a photograph of a pattern with a predefined geometrical configuration through the use of a camera;
an image holding step of holding a base image comprising said pattern with said predefined geometrical configuration; and
a transformation parameter calculating step of calculating a transformation parameter on the basis of the association in pixel between said picked-up image and said base image to minimize luminance error between corresponding pixels of both said picked-up image and base image.
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41. A camera which conducts a camera calibration, said camera comprising:
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image inputting means for inputting a picked-up image;
an image holding means for holding a base image comprising a pattern with a predefined geometrical configuration; and
transformation parameter calculating means for calculating a transformation parameter on the basis of the association in pixel between said picked-up image and base image to minimize luminance error between corresponding pixels of both said picked-up image and base image, wherein said picked-up image, has a pattern with said predefined geometrical configuration, and is inputted through the image inputting means and said base image.
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Specification