Self-calibration for a catadioptric camera

Details Self-calibration for a catadioptric camera Self-calibration for a catadioptric camera

2005-03-22

2005-03-22

Ho, Tuan (Department: 2615)

Television

Camera, system and detail

Combined image signal generator and general image signal...

C348S239000, C348S207990, C348S036000, C348S335000, C382S294000

Reexamination Certificate

active

06870563

ABSTRACT:
A method and a system for self-calibrating a wide field-of-view camera (such as a catadioptric camera) using a sequence of omni-directional images of a scene obtained from the camera. The present invention uses the consistency of pairwise features tracked across at least a portion of the image collection and uses these tracked features to determine unknown calibration parameters based on the characteristics of catadioptric imaging. More specifically, the self-calibration method of the present invention generates a sequence of omni-directional images representing a scene and tracks features across the image sequence. An objective function is defined in terms of the tracked features and an error metric (an image-based error metric in a preferred embodiment). The catadioptric imaging characteristics are defined by calibration parameters, and determination of optimal calibration parameters is accomplished by minimizing the objective function using an optimizing technique. Moreover, the present invention also includes a technique for reformulating a projection equation such that the projection equation is equivalent to that of a rectilinear perspective camera. This technique allows analyses (such as structure from motion) to be applied (subsequent to calibration of the catadioptric camera) in the same direct manner as for rectilinear image sequences.

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C. Geyer and K. Daniilidis, “Catadioptric camera calibration”, inICCV, vol. 1, pp. 398-404, Corfu, Greece, Sep. 1999.
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R. Swaminathan and S. Nayar, “Non-metric calibration of wide-angle lenses and polycameras”, inCVPR, pp. 413-419, Fort Collins, Colorado, Jun. 1999.

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