Method for calibrating a camera and calibration system
First Claim
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1. A method for calibrating a dynamic vision sensor (DVS) camera, the method comprising:
- detecting a two-dimensional imaging trajectory of a moving calibration object by the DVS camera;
detecting a three-dimensional reference trajectory of the moving calibration object by a detection device that determines the reference trajectory on the basis of a plurality of accelerations of the moving calibration object at a plurality of detection times and corresponding calibration object positions, as measured by an acceleration sensor on the moving calibration object and received by the detection device from a transmitter on the moving calibration object, the imaging trajectory representing a trajectory of the calibration object imaged in image coordinates of the DVS camera and the reference trajectory representing the trajectory in world coordinates;
reading in the imaging trajectory and the reference trajectory by an interface device that supplies the imaging trajectory and the reference trajectory to an ascertainment device that includes a processing unit; and
calibrating the DVS camera by the ascertainment device on the basis of the imaging trajectory and the reference trajectory.
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Abstract
A method for calibrating a camera. The method includes a step of reading in and a step of ascertaining, an imaging trajectory and a reference trajectory of a moving calibration object detected by using the camera being read in in the step of reading in, the imaging trajectory representing a trajectory imaged in image coordinates of the camera and the reference trajectory representing the trajectory in world coordinates, and at least one calibration parameter for the camera being ascertained in the step of ascertaining by using the imaging trajectory and the reference trajectory.
46 Citations
10 Claims
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1. A method for calibrating a dynamic vision sensor (DVS) camera, the method comprising:
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detecting a two-dimensional imaging trajectory of a moving calibration object by the DVS camera; detecting a three-dimensional reference trajectory of the moving calibration object by a detection device that determines the reference trajectory on the basis of a plurality of accelerations of the moving calibration object at a plurality of detection times and corresponding calibration object positions, as measured by an acceleration sensor on the moving calibration object and received by the detection device from a transmitter on the moving calibration object, the imaging trajectory representing a trajectory of the calibration object imaged in image coordinates of the DVS camera and the reference trajectory representing the trajectory in world coordinates; reading in the imaging trajectory and the reference trajectory by an interface device that supplies the imaging trajectory and the reference trajectory to an ascertainment device that includes a processing unit; and calibrating the DVS camera by the ascertainment device on the basis of the imaging trajectory and the reference trajectory. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A calibration device designed to calibrate a dynamic vision sensor (DVS) camera, the calibration device designed to:
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detecting a two-dimensional imaging trajectory of a moving calibration object by the DVS camera; detecting a three-dimensional reference trajectory of the moving calibration object by a detection device that determines the reference trajectory on the basis of a plurality of accelerations of the moving calibration object at a plurality of detection times and corresponding calibration object positions, as measured by an acceleration sensor on the moving calibration object and received by the detection device from a transmitter on the moving calibration object, the imaging trajectory representing a trajectory of the calibration object imaged in image coordinates of the DVS camera and the reference trajectory representing the trajectory in world coordinates; read in the imaging trajectory and the reference trajectory by an interface device that supplies the imaging trajectory and the reference trajectory to an ascertainment device that includes a processing unit; and calibrate the DVS camera by the ascertainment device on the basis of the imaging trajectory and the reference trajectory.
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8. A calibration system for calibrating a dynamic vision sensor (DVS) camera, the calibration system comprising:
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a moving calibration object; and calibration device designed to calibrate the DVS camera, the calibration device designed to; detecting a two-dimensional imaging trajectory of the moving calibration object by the DVS camera; detecting a three-dimensional reference trajectory of the moving calibration object by a detection device that determines the reference trajectory on the basis of a plurality of accelerations of the moving calibration object at a plurality of detection times and corresponding calibration object positions, as measured by an acceleration sensor on the moving calibration object and received by the detection device from a transmitter on the moving calibration object, the imaging trajectory representing a trajectory of the calibration object imaged in image coordinates of the DVS camera and the reference trajectory representing the trajectory in world coordinates; read in the imaging trajectory and the reference trajectory by an interface device that supplies the imaging trajectory and the reference trajectory to an ascertainment device that includes a processing unit; and calibrate the DVS camera by the ascertainment device on the basis of the imaging trajectory and the reference trajectory. - View Dependent Claims (9)
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10. A non-transitory machine-readable storage medium on which is stored a computer program for calibrating a dynamic vision sensor (DVS) camera, the computer program, when executed by a processing unit, causing the processing unit to perform:
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detecting a two-dimensional imaging trajectory of a moving calibration object by the DVS camera; detecting a three-dimensional reference trajectory of the moving calibration object by a detection device that determines the reference trajectory on the basis of a plurality of accelerations of the moving calibration object at a plurality of detection times and corresponding calibration object positions, as measured by an acceleration sensor on the moving calibration object and received by the detection device from a transmitter on the moving calibration object, the imaging trajectory representing a trajectory of the calibration object imaged in image coordinates of the DVS camera and the reference trajectory representing the trajectory in world coordinates; reading in the imaging trajectory and the reference trajectory by an interface device that supplies the imaging trajectory and the reference trajectory to an ascertainment device that includes a processing unit; and calibrating the DVS camera by the ascertainment device on the basis of the imaging trajectory and the reference trajectory.
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Specification