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Camera Model Calibration
Camera Model Calibration
Camera Model and Calibration
Lecture‐7
Camera Calibration
•Determine extrinsic and intrinsic parameters of
camera
–Extrinsic
•3D location and orientation of camera
–Intrinsic
•Focal length
• The size of the pixels
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Camera Calibration
Object Space Image Space
YW M yc
m
Z WX W
xc
fx alpha* f x ox
0 fy oy A [R t]
0 0 1
camera intrinsics extrinsics
Pose Estimation
•Given 3D model of object, and its image (2D projection)
determine the location and orientation (translation &
rotation) of object such that when projected on the image
plane it will match with the image.
http://www.youtube.com/watch?v=ZNHRH00UMvk
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Transformations
3‐D Translation
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Perspective transform relates the world coordinates with the image coordinates when the
camera is located at the origin of the world coordinates. However, in real life we need to
translate and rotate the camera in order to bring the object of interest in the field of view.
Perspective Projection (origin at image center)
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Perspective
Perspective
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Camera Model
• Camera is at the origin of the world coordinates first
• Then translated by some amount(G),
• Then rotated around Z axis in counter clockwise direction,
• Then rotated again around X in counter clockwise direction, and
• Then translated by C.
Since we are moving the camera instead
of object we need to use inverse transformations
Perspective transform relates the world coordinates with the image coordinates when the
camera is located at the origin of the world coordinates. However, in real life we need to
translate and rotate the camera in order to bring the object of interest in the field of view.
Camera Model
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Camera Model
Camera Model
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Camera Model
Camera Model
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Camera Model
Camera Model
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Camera Model
Camera Model
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Finding Camera Location
Camera Location
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Camera Orientation
Application
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Application
Camera Parameters
•Extrinsic parameters
–Parameters that define the location and orientation of the camera
reference frame with respect to a known world reference frame
• 3‐D translation vector
• A 3 by 3 rotation matrix
•Intrinsic parameters
–Parameters necessary to link the pixel coordinates of an image
point with the corresponding coordinates in the camera reference frame
• Perspective projection (focal length)
• Transformation between camera frame coordinates and pixel
coordinates
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Camera Model Revisited: Rotation &
Translation
Perspective Projection: Revisited
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Camera Model Revisited: Perspective
Camera Model Revisited: Image and
Camera coordinates
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Camera Model Revisited
Camera Model Revisited
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Camera Model Revisited
Computing Camera Parameters
• Using known 3‐D points and corresponding image
points, estimate camera matrix employing
pseudo inverse method of section 1.6
(Fundamental of Computer Vision).
• Compute camera parameters by relating camera
matrix with estimated camera matrix.
–Extrinsic
•Translation
•Rotation
–Intrinsic
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Comparison
Computing Camera Parameters
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Computing Camera Parameters
Computing Camera Parameters: estimating third
row of rotation matrix and translation in depth
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Computing Camera Parameters
Let
Computing Camera Parameters:
origin of image
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Computing Camera Parameters:
vertical and horizontal focal lengths
Computing Camera Parameters: remaining
rotation and translation parameters
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Reading Material
•Chapter 1, Fundamental Of Computer Vision,
Mubarak Shah
•Chapter 6, Introductory Techniques, E. Trucco
and A. Verri, Prentice Hall, 1998.
•Recovering the camera parameters from a
transformation matrix, TM Strat ‐ Readings in
Computer Vision, 1987
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