Intrinsic and extrinsic active self-calibration of multi-camera systems

Brückner, Marcel; Bajramovic, Ferid; Denzler, Joachim

doi:10.1007/s00138-013-0541-x

Cited by 32 publications

(17 citation statements)

References 37 publications

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“…The researchers use reference bars (Maas, 1999), laser-pointers respectively LED-markers (Baker and Aloimonos, 2000;Barreto and Daniilidis, 2004;Kurillo et al, 2008;Svoboda, 2003) or active self-calibration (Brückner et al, 2014) to estimate the extrinsics of the cameras in a reference frame which consequently leads to the relative poses of the MCS. These methods are usually used to calibrate motion capture or rigid body tracking systems.…”

Section: Related Workmentioning

confidence: 99%

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

Hillemann

Jutzi²

2017

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:Unmanned Aerial Vehicle (UAV) with adequate sensors enable new applications in the scope between expensive, large-scale, aircraftcarried remote sensing and time-consuming, small-scale, terrestrial surveyings. To perform these applications, cameras and laserscanners are a good sensor combination, due to their complementary properties. To exploit this sensor combination the intrinsics and relative poses of the individual cameras and the relative poses of the cameras and the laserscanners have to be known. In this manuscript, we present a calibration methodology for the Unified Intrinsic and Extrinsic Calibration of a Multi-Camera-System and a Laserscanner (UCalMiCeL). The innovation of this methodology, which is an extension to the calibration of a single camera to a line laserscanner, is an unifying bundle adjustment step to ensure an optimal calibration of the entire sensor system. We use generic camera models, including pinhole, omnidirectional and fisheye cameras. For our approach, the laserscanner and each camera have to share a joint field of view, whereas the fields of view of the individual cameras may be disjoint. The calibration approach is tested with a sensor system consisting of two fisheye cameras and a line laserscanner with a range measuring accuracy of 30mm. We evaluate the estimated relative poses between the cameras quantitatively by using an additional calibration approach for Multi-Camera-Systems based on control points which are accurately measured by a motion capture system. In the experiments, our novel calibration method achieves a relative pose estimation with a deviation below 1.8• and 6.4mm.

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Section: Related Workmentioning

confidence: 99%

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

Hillemann

Jutzi²

2017

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…Apesar de as técnicas de autocalibração e, consequentemente, de reconstrução tridimensional possuírem muita importância para um grande número de aplicações em visão computacional [5], avaliações são comumente focadas em aplicações como reconhecimento de objetos 3D [21,22], recuperação de imagens [23] e classificação de texturas [24].…”

Section: Correspondência De Pontosunclassified

“…Autocalibração oferece a grande vantagem de exigir pouca ou nenhuma interação do usuário. No entanto, essas técnicas são fortemente dependentes de um processo de correspondência de pontos de interesse, na cena [5]. Uma técnica de correspondência ineficaz pode fazer com que os parâmetros recuperados pela autocalibração não tenham nenhum sentido [6].…”

Section: Introductionunclassified

Análise comparativa de detectores e descritores de características locais em imagens no âmbito do problema de autocalibração de câmeras

Brito

Pádua

Lopes

et al. 2016

RBCA

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Resumo: Este trabalho apresenta uma análise comparativa de diferentes métodos do estado da arte para detecção e descrição de características locais em imagens, com o objetivo de solucionar de forma robusta e eficiente o problema de autocalibração de câmeras. Para atingir esse objetivo, é essencial a utilização de métodos detectores e descritores eficazes, uma vez que a correspondência robusta de características em um conjunto de imagens sucessivas sujeitas a uma ampla variedade de distorções afins e mudanças no ponto de vista 3D da cena, é crucial para a exatidão dos cálculos dos parâmetros da câmera. Muito embora diversos detectores e descritores têm sido propostos na literatura, seus impactos no processo de autocalibração de câmeras não foram ainda devidamente estudados. Nesse trabalho de análise comparativa, utilizam-se como critérios de qualidade da autocalibração os erros: epipolar, de reprojeção e reconstrução, bem como os tempos de execução dos métodos. Os resultados experimentais demonstram que detectores e descritores binários de características (ORB, BRISK e FREAK) e de ponto flutuante (SIFT e SURF) apresentam erros de reprojeção e reconstrução equivalentes. Considerando-se, porém, o menor custo computacional dos métodos binários, recomenda-se, fortemente, o uso destes em soluções de problemas de autocalibração de câmeras. Palavras-chave: Autocalibração de Câmeras, Detectores e Descritores Locais, Correspondência de Pontos em Imagens.Abstract: This work presents a comparative analysis of different state-of-art local feature detectors and descriptors aiming to accurately and efficiently solve the camera self-calibration problem. To achieve this goal, it is essential the usage of effective image feature detectors and descriptors, since the robust matching of features in a set of successive images subjected to a substantial range of affine distorsion and changes in 3D viewpoint is crucial to the accurate computation of the camera parameters. Even though a lot of detectors and descriptors have been proposed in the literature, their impacts in the camera self-calibration task have not yet been carefully studied. Our comparative analysis uses as criteria the estimated epipolar, reprojection and reconstruction errors, as well as the running times of the methods. Our experiments show that binary (ORB, BRISK and FREAK) and floating-point (SIFT and SURF) feature detectors and descriptors present equivalent reprojection and reconstruction errors. Therefore,considering the smaller computational cost of binary methods, their usage is strongly recommended in camera self-calibration problems.

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“…For instance, selfcalibration approaches have constrained the solution to one degree of freedom for each camera [9], or individual yaw movements per camera plus a joint neck movement for the head [10]. Adding degrees of freedom therefore results in lower precision of the reconstructed scene [11]. To overcome constrains on the kinematic structure of the systems, hybrid approaches consist of initialising calibration parameters using rigid solutions and, then, update intrinsic and extrinsic camera parameters while interacting with the environment.…”

Section: Introductionmentioning

confidence: 99%

On the calibration of active binocular and RGBD vision systems for dual-arm robots

Khan

Aragon-Camarasa

Sun

et al. 2016

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-This paper describes a camera and hand-eye calibration methodology for integrating an active binocular robot head within a dual-arm robot. For this purpose, we derive the forward kinematic model of our active robot head and describe our methodology for calibrating and integrating our robot head. This rigid calibration provides a closedform hand-to-eye solution. We then present an approach for updating dynamically camera external parameters for optimal 3D reconstruction that are the foundation for robotic tasks such as grasping and manipulating rigid and deformable objects. We show from experimental results that our robot head achieves an overall sub millimetre accuracy of less than 0.3 millimetres while recovering the 3D structure of a scene. In addition, we report a comparative study between current RGBD cameras and our active stereo head within two dual-arm robotic testbeds that demonstrates the accuracy and portability of our proposed methodology.

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Intrinsic and extrinsic active self-calibration of multi-camera systems

Cited by 32 publications

References 37 publications

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

Análise comparativa de detectores e descritores de características locais em imagens no âmbito do problema de autocalibração de câmeras

On the calibration of active binocular and RGBD vision systems for dual-arm robots

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