METHOD FOR CALIBRATION OF A STEREO CAMERA
First Claim
1. A method for calibration of a stereo camera comprising two cameras arranged in a distance along a first direction and mechanically attached to a common structure, the method comprising the steps of:
- a) providing rectification functions mapping raw image coordinates to rectified coordinates;
b) recalibration based on images of a scene captured by the stereo camera affixed in an observation position, the recalibration yielding correction functions mapping rectified coordinates to corrected coordinates;
wherec) recalibration is based on matching objects comprised in images of the captured scene obtained by the two cameras;
whereind) the stereo camera is affixed in a fixed relationship with a planar surface, with a known distance and angle between the stereo camera and the surface, and in thate) in the recalibration objects are matched that belong to the surface, wherein a disparity caused by the known distance is exploited when determining the correction functions.
1 Assignment
0 Petitions
Accused Products
Abstract
In a method for calibration of a stereo camera (1) comprising two cameras (2, 3) arranged in a distance along a first direction (x) and mechanically attached to a common structure, rectification functions mapping raw image coordinates to rectified coordinates are provided. Recalibration is based on images of a scene captured by the stereo camera (1) affixed in an observation position, the recalibration yielding correction functions mapping rectified coordinates to corrected coordinates. Recalibration is based on matching objects comprised in images of the captured scene obtained by the two cameras (2, 3). The stereo camera (1) is affixed in a fixed relationship with a planar surface (4), with a known distance and angle between the stereo camera (1) and the surface (4), and objects are matched in the recalibration that belong to the surface (4), wherein a disparity caused by the known distance is exploited when determining the correction functions. Exploiting the additional information with respect to the surface (4), the determination of the correction functions may be greatly improved. In particular, the inventive method allows for employing general correction functions, and no modelling of the calibration errors is required.
8 Citations
13 Claims
-
1. A method for calibration of a stereo camera comprising two cameras arranged in a distance along a first direction and mechanically attached to a common structure, the method comprising the steps of:
-
a) providing rectification functions mapping raw image coordinates to rectified coordinates; b) recalibration based on images of a scene captured by the stereo camera affixed in an observation position, the recalibration yielding correction functions mapping rectified coordinates to corrected coordinates; where c) recalibration is based on matching objects comprised in images of the captured scene obtained by the two cameras; wherein d) the stereo camera is affixed in a fixed relationship with a planar surface, with a known distance and angle between the stereo camera and the surface, and in that e) in the recalibration objects are matched that belong to the surface, wherein a disparity caused by the known distance is exploited when determining the correction functions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
Specification