Method and apparatus for automatic intrinsic camera calibration using images of a planar calibration pattern
First Claim
1. A method for automatic camera calibration of an image capture device exhibiting substantial lens distortion, the method comprising:
- obtaining, by a computing unit, a plurality of images of a planar calibration pattern captured by the image capture device from different respective angles;
detecting, by the computing unit, a plurality of distinguishable features depicted in the planar calibration pattern for each obtained image wherein at least one of the obtained images captures only a subset of the planar calibration pattern;
for each image, generating, by the computing unit, a respective lattice graph corresponding to the image based on the distinguishable features detected from the image, wherein each respective lattice graph has a plurality of nodes corresponding to distinguishable features and wherein each lattice graph is defined with reference to a global planar coordinate system having an arbitrary origin;
repeatedly calibrating, by the computing unit, a plurality of intrinsic camera parameter values corresponding to one or more intrinsic camera parameters of the image capture device based on two or more distinguishable features detected in two or more of the images and the lattice graphs corresponding to the two or more images, wherein the calibrating is performed for two or more different combinations of the images and wherein the repeated calibration comprises, for each image, a plurality of recursions each starting with a single node detected in the image, one or more n-edge vectors and one or more visited directions and continuing via a repeated selection of one or more n-closest neighbors to the one or more n-edge vectors;
selecting, by the computing unit, one or more intrinsic camera parameter values from the plurality of intrinsic camera parameter values, wherein the one or more intrinsic camera parameter values are selected to minimize a robust estimator of a reprojection error over the obtained plurality of images; and
refining, by the computing unit, calibration of the plurality of intrinsic camera parameter values based on the one or more selected intrinsic camera parameters;
wherein at least one of the intrinsic camera parameters comprises lens distortion.
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Abstract
The present disclosure relates to a high precision method, model, and apparatus for calibrating the intrinsic camera parameter values of one or more intrinsic parameters of a camera. The intrinsic parameters include focal lengths, skew, optical center, and radial distortion coefficients. The practical implementation of the solution consists of a camera capturing several images of a planar calibration pattern from different viewpoints, and a computer implemented processing pipeline. The solution does not require additional human input and is robust to misdetection of the calibration pattern in some of the images.
31 Citations
26 Claims
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1. A method for automatic camera calibration of an image capture device exhibiting substantial lens distortion, the method comprising:
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obtaining, by a computing unit, a plurality of images of a planar calibration pattern captured by the image capture device from different respective angles; detecting, by the computing unit, a plurality of distinguishable features depicted in the planar calibration pattern for each obtained image wherein at least one of the obtained images captures only a subset of the planar calibration pattern; for each image, generating, by the computing unit, a respective lattice graph corresponding to the image based on the distinguishable features detected from the image, wherein each respective lattice graph has a plurality of nodes corresponding to distinguishable features and wherein each lattice graph is defined with reference to a global planar coordinate system having an arbitrary origin; repeatedly calibrating, by the computing unit, a plurality of intrinsic camera parameter values corresponding to one or more intrinsic camera parameters of the image capture device based on two or more distinguishable features detected in two or more of the images and the lattice graphs corresponding to the two or more images, wherein the calibrating is performed for two or more different combinations of the images and wherein the repeated calibration comprises, for each image, a plurality of recursions each starting with a single node detected in the image, one or more n-edge vectors and one or more visited directions and continuing via a repeated selection of one or more n-closest neighbors to the one or more n-edge vectors; selecting, by the computing unit, one or more intrinsic camera parameter values from the plurality of intrinsic camera parameter values, wherein the one or more intrinsic camera parameter values are selected to minimize a robust estimator of a reprojection error over the obtained plurality of images; and refining, by the computing unit, calibration of the plurality of intrinsic camera parameter values based on the one or more selected intrinsic camera parameters; wherein at least one of the intrinsic camera parameters comprises lens distortion. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A computing unit configured for automatic camera calibration of an image capture device exhibiting substantial lens distortion, the computing unit comprising:
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memory storing a plurality of computer-executable instructions; one or more processors that execute the computer-executable instructions, the computer-executable instructions causing the one or more processors to; obtain a plurality of images of a planar calibration pattern captured by the image capture device from different respective angles; detect a plurality of distinguishable features depicted in the planar calibration pattern for each obtained image wherein at least one of the obtained images captures only a subset of the planar calibration pattern; generate a lattice graph having a plurality of nodes based on the distinguishable features detected from each image wherein each lattice graph is defined with reference to a global planar coordinate system having an arbitrary origin; repeatedly calibrate a plurality of intrinsic camera parameter values corresponding to one or more intrinsic camera parameters of the image capture device based on two or more distinguishable features detected in two or more of the images and the lattice graphs corresponding to the two or more images, wherein the calibrating is performed for two or more different combinations of the images and wherein the repeated calibration comprises, for each image, a plurality of recursions each starting with a single node detected in the image, one or more n-edge vectors and one or more visited directions and continuing via a repeated selection of one or more n-closest neighbors to the one or more n-edge vectors; select, one or more intrinsic camera parameter values from the plurality of intrinsic camera parameter values, wherein the one or more intrinsic camera parameter values are selected to minimize a robust estimator of a reprojection error over the obtained plurality of images; and refine calibration of the plurality of intrinsic camera parameters based on the one or more selected intrinsic camera parameters; wherein at least one of the intrinsic camera parameters comprises lens distortion. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification