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Image sequence based automatic multi-camera system calibration techniques
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DOI：10.1016/S0924-2716(99)00029-5.png)
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摘要
En 中文
An image sequence-based, fully automatic and rather flexible procedure for the calibration of stationary multi-camera systems for 3-D observation of dynamic events is presented and analysed. While conventional close-range camera calibration techniques an either based on a stable point-field with known reference coordinates or on a temporarily stationary point-field with only approximately known 3-D coordinates, which is imaged from different locations and under different orientations with one single camera, the presented technique is based on stationary cameras and moving targets, making use of the image sequence acquisition nature of most solid state cameras. In the simplest version, only one easily detectable marker has to be tracked through image sequences of multiple pre-calibrated cameras, thus avoiding the necessity of homologous feature identification for the establishment of multi-view correspondences; 3-D coordinates of the marker position are not required. This single-marker method does not allow for the determination of the interior orientation. In an extended version allowing for full camera orientation and calibration, a reference bar of known length is moved through object space, with the problem of feature identification and establishment of multi-view correspondences being reduced to the tracking of two targets. The method can only be used with multi-camera systems and is most useful for 3-D motion analysis applications, but may be adapted to a wide range of other applications. The advantages of the method over conventional self-calibration techniques an the trivial establishment of multi-view correspondences, the fact that no temporarily stable target field has to be constructed, and the fact that each camera has to be set up only once. After an explanation of the technique, its performance is examined in detail based on extensive computer simulations, and the practical effectiveness is shown in a pilot study on industrial robot calibration. Based on these studies, recommendations are given concerning the number of reference bar locations, preferable reference bar orientation schemes and the achievable accuracy potential. (C) 1999 Elsevier Science B.V. All rights reserved.
Keyword:
dynamic 3-D measurements
image sequences
orientation
calibration
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IF:
12.2
论文数:
4.4K
被引数:
3.2W
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