CN102075785A - Method for correcting wide-angle camera lens distortion of automatic teller machine (ATM) - Google Patents

Method for correcting wide-angle camera lens distortion of automatic teller machine (ATM) Download PDF

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CN102075785A
CN102075785A CN 201010608963 CN201010608963A CN102075785A CN 102075785 A CN102075785 A CN 102075785A CN 201010608963 CN201010608963 CN 201010608963 CN 201010608963 A CN201010608963 A CN 201010608963A CN 102075785 A CN102075785 A CN 102075785A
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胡瑞敏
江俊君
韩镇
卢涛
兰诚栋
黄克斌
张春景
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Wuhan University WHU
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Abstract

The invention relates to the technical field of image processing, in particular relating to a method for correcting wide-angle camera lens distortion of an automatic teller machine (ATM). The method comprises the following steps: establishing a database in accordance with correction parameters for the wide-angle camera lens distortions of ATMs of different types from different manufacturers; shooting a wide-angle image in a scene containing a plurality of straight lines; manually extracting curves in the image; determining a group of optimal correction parameters for the wide-angle camera lens of the ATM; and correcting the wide-angle image in accordance with the optimal parameters. By utilizing the method provided by the invention, the optimal correction parameters can be acquired fast and accurately, and the wide-angle lens images can be accurately corrected based on the optimal parameters.

Description

A kind of ATM wide-angle imaging machine lens distortion calibration method
Technical field
The present invention relates to technical field of image processing, relate in particular to a kind of ATM wide-angle imaging machine lens distortion calibration method.
Background technology
The image rectification technology can be set up corresponding Mathematical Modeling according to the image fault reason, extracts needed information from the picture intelligence of distortion, recovers original undistorted image by finding the solution the inverse process that makes image deflects.Wide-angle lens distorted image correction technology can have the distortion information of fault image in the efficient recovery monitoring video, improve the accuracy of the crucial clue identifications of monitoring image such as people's face, this is for the degree of depth application power that improves the criminal investigation image, and then improves public security department's case-solving rate, safeguards that social public security is significant.
In present existent method, by setting up the relation between three-dimensional coordinate and the plane of delineation coordinate feature point set, camera interior and exterior parameter is found the solution, thereby fault image is proofreaied and correct based on the method for scaling board.These class methods have very high correction accuracy, but it needs the calibration piece or the calibration plate of a high accuracy, is difficult to realize in a lot of practical applications.Another is based on the method for existing geometric properties in the scene, and it utilizes the original geometric properties information of fault image scenery to proofread and correct.As in document 1, give chapter and verse this characteristic of curve in the corresponding fluoroscopy images of straight line in the scene of people such as Moumen Ahmed in 2005, estimate target function by minimizing a distortion, thereby obtain one group of parameter the curvature correction in the image is in line, this method may be absorbed in local optimum because of needs carry out repeatedly iteration.2010, people such as Japanese industry comprehensive technology research institute JunFujiki proposed the radial symmetric distortion correction method based on Model Selection in document 2.This method with distortion model by the linear expression of a group model basic function, then with the correction accuracy of image cathetus characteristic point coefficient, at last according to the distortion model correcting image of linear combination as the linear combination of object solving model-based function.But this algorithm in optimizing process not the search volume to parameter retrain, the excessive optimized parameter that causes in search volume is difficult to converge to globally optimal solution, the image rectification precision also just is difficult to improve.
Document 1:Moumen Ahmed, Aly Farag.Nonmetric Calibration of Camera Lens Distortion:Differential Methods and Robust Estimation.IEEE Transactions on Image Processing, Vol.14, No.8, Aug 2005
Document 2:Jun Fujiki, HideitsuHino, YumiUsami, ShotaroAkahol, NoboruMurata.Self-calibration of radially symmetric distortion by model selection..20th International Conference on Pattern Recognition.2010, pp.1812-1815
Document 3:Zhengyou Zhang.A Flexible New Technique for Camera Calibration.IEEE Transactions on Pattern Analysisand Machine Intelligence, Vol.22, No.11, pages 1330-1334,2000
Summary of the invention
At the technical problem of above-mentioned existence, the purpose of this invention is to provide a kind of ATM wide-angle imaging machine lens distortion calibration side, to realize ATM wide-angle lens distortion correction rapidly and efficiently.
For achieving the above object, the present invention adopts following technical scheme:
According to camera marking method based on the plane of motion template, obtain the ATM wide-angle imaging machine lens correction parameter of different manufacturers different model, these parameters comprise lateral aberration parameter k 1, longitudinal distortion parameter k 2, lateral aberration center u 0With longitudinal distortion center v 0, build the storehouse according to the ATM wide-angle imaging machine lens distortion calibration parameter of different manufacturers different model:
In comprising the scene of some straight lines, take a width of cloth wide angle picture, and the M bar curve L on the image 1, L 2..., L j..., L M, 1≤j≤M carries out manual punctuate, L jBy N jIndividual point
Figure BDA0000041151670000021
Constitute 1≤i≤N j, make straight line
Figure BDA0000041151670000022
With straight line
Figure BDA0000041151670000023
Intersection point be
Figure BDA0000041151670000024
Coordinate Center of distortion for wide angle picture;
Determine the optimized parameter of one group of this ATM wide-angle imaging machine lens correction
Figure BDA0000041151670000026
According to correction parameter With following formula with the fault image coordinate be (u, pixel value v) compose to proofreading and correct the corresponding points of back image coordinate for (u ', v '):
u ′ - u 0 * = ( u - u 0 * ) ( 1 + k 1 * r 2 ) v ′ - v 0 * = ( v - v 0 * ) ( 1 + k 2 * r 2 )
Wherein,
Figure BDA0000041151670000029
Image after obtaining proofreading and correct.
The described optimized parameter of determining one group of this ATM wide-angle imaging machine lens correction
Figure BDA00000411516700000210
Step comprise following substep:
1. to a certain group of parameter in the distortion correction parameter library
Figure BDA00000411516700000211
Utilize following formula to calculate that all features account on each bar curve
Figure BDA00000411516700000212
Proofread and correct the back image coordinate
Figure BDA00000411516700000213
u i j ′ - u 0 s = ( u i j - u 0 s ) ( 1 + k 1 j r 2 ) v i j ′ - v 0 s = ( v i j - v 0 s ) ( 1 + k 2 j r 2 )
Wherein,
Figure BDA00000411516700000215
Utilize this group coefficient to image proofread and correct the back distortion in images estimate for:
DE _ k = max 1 ≤ j ≤ M max 1 ≤ i ≤ N j | | q i j ′ - q i j ′ ′ | | | | q i j ′ - q 0 s | |
This s distortion in estimating minimum that be designated as DE_k *, its pairing that group parameter is designated as
Figure BDA0000041151670000031
If DE_k *Less than pre-set threshold ε, this group then
Figure BDA0000041151670000032
Be the optimum correction parameter of ATM wide-angle imaging machine camera lens; Otherwise, with parameter
Figure BDA0000041151670000033
Be made as initial value, promptly
Figure BDA0000041151670000034
Figure BDA0000041151670000035
Figure BDA0000041151670000036
Figure BDA0000041151670000037
At this moment, center of distortion q 0Coordinate be
Figure BDA0000041151670000038
Make straight line
Figure BDA0000041151670000039
With straight line
Figure BDA00000411516700000310
Intersection point be
Figure BDA00000411516700000311
2. utilize following two formulas to adjust the correction parameter { k that previous step is obtained 1, k 2, u 0, v 0Value:
k 1 = k 1 + α 1 DE _ k | cos ∠ q 0 q i j | k 2 = k 2 + α 2 DE _ k | sin ∠ q 0 q i j |
u 0 = u 0 + β 1 DE _ k | cos ∠ q 0 q i j | v 0 = v 0 + β 2 DE _ k | sin ∠ q 0 q i j |
Wherein, α 1And α 2Be respectively k 1And k 2Iteration step length, β 1And β 2Be respectively u 0And v 0Iteration step length;
3. according to the new correction parameter values that obtains in 2., calculate characteristic point on each bar straight line
Figure BDA00000411516700000314
Proofread and correct the back image coordinate
Figure BDA00000411516700000315
u i j ′ - u 0 = ( u i j - u 0 ) ( 1 + k 1 r 2 ) v i j ′ - v 0 = ( v i j - v 0 ) ( 1 + k 2 r 2 )
Wherein,
Figure BDA00000411516700000317
Distortion in images is estimated behind the calculation correction again:
DE _ k = max 1 ≤ j ≤ M max 1 ≤ i ≤ N j | | q i j ′ - q i j ′ ′ | | | | q i j ′ - q 0 | |
If DE_k less than pre-set threshold ε, makes
Figure BDA00000411516700000319
Figure BDA00000411516700000320
Figure BDA00000411516700000321
This group then Be the optimum correction parameter of ATM wide-angle imaging machine camera lens; Otherwise, turn to 2..
Described pre-set threshold ε is: ε=10 -2
ATM wide-angle imaging machine lens distortion calibration parameter according to the different manufacturers different model is built the storehouse:
Figure BDA00000411516700000324
1≤s≤S, always total S group parameter, each group parameter comprises the lateral aberration degree
Figure BDA00000411516700000325
The longitudinal distortion degree
Figure BDA00000411516700000326
The center of distortion
Figure BDA00000411516700000327
Four parameters,
Figure BDA00000411516700000328
With
Figure BDA00000411516700000329
Be respectively lateral aberration center and longitudinal distortion center.
At (u ', v ') when locating not have pixel value, obtain the pixel value that (u ', v ') locates by interpolation algorithm.
The present invention has the following advantages and good effect:
1) the present invention can proofread and correct all kinds of ATM wide-angle lens effectively by setting up different manufacturers different model ATM wide-angle lens correction parameter storehouse;
2) the present invention can try to achieve optimum correction parameter quickly and accurately, and based on this group optimized parameter, we just can proofread and correct accurately to the wide-angle lens image.
Description of drawings
Fig. 1 is the flow chart of ATM wide-angle imaging machine lens distortion calibration method provided by the invention.
Embodiment
ATM wide-angle imaging machine lens distortion calibration method provided by the invention as shown in Figure 1, comprises the steps:
1. set up different manufacturers different model ATM wide-angle imaging machine lens correction parameter library:
The camera marking method based on the plane of motion template that this step can propose in document 3 according to the Zhang Zhengyou of Microsoft Research is obtained the ATM wide-angle imaging machine lens correction parameter of different manufacturers different model, and these parameters comprise lateral aberration parameter k 1, longitudinal distortion parameter k 2, lateral aberration center u 0With longitudinal distortion center v 0, build the storehouse according to the ATM wide-angle imaging machine lens distortion calibration parameter of different manufacturers different model:
Figure BDA0000041151670000041
1≤s≤S, always total S group parameter, each group parameter comprises the lateral aberration degree
Figure BDA0000041151670000042
The longitudinal distortion degree
Figure BDA0000041151670000043
The center of distortion Four parameters,
Figure BDA0000041151670000045
With
Figure BDA0000041151670000046
Be respectively lateral aberration center and longitudinal distortion center;
2. in comprising the scene of some straight lines, take a width of cloth wide angle picture:
In including the scene of some straight lines, take a width of cloth wide angle picture with the ATM wide-angle imaging machine of a certain model;
3. the picture of manual extraction scene straight line in image:
To the M bar curve L on the image that photographs in the step 2 1, L 2..., L j..., L M, 1≤j≤M carries out manual punctuate, L jBy N jIndividual point
Figure BDA0000041151670000047
Constitute 1≤i≤N j, make straight line
Figure BDA0000041151670000048
With straight line
Figure BDA0000041151670000049
Intersection point be
Figure BDA00000411516700000410
Coordinate Center of distortion for wide angle picture;
4. determine the optimized parameter of one group of this ATM wide-angle imaging machine lens correction
(1) to a certain group of parameter in the distortion correction parameter library
Figure BDA00000411516700000413
Utilize following formula to calculate all characteristic points on each bar curve
Figure BDA00000411516700000414
Proofread and correct the back image coordinate
Figure BDA00000411516700000415
u i j ′ - u 0 s = ( u i j - u 0 s ) ( 1 + k 1 j r 2 ) v i j ′ - v 0 s = ( v i j - v 0 s ) ( 1 + k 2 j r 2 )
Wherein,
Figure BDA0000041151670000052
Utilize this group coefficient to image proofread and correct the back distortion in images estimate for:
DE _ k = max 1 ≤ j ≤ M max 1 ≤ i ≤ N j | | q i j ′ - q i j ′ ′ | | | | q i j ′ - q 0 s | |
This s distortion in estimating minimum that be designated as DE_k *, its pairing that group parameter is designated as
Figure BDA0000041151670000054
If DE_k *Less than pre-set threshold ε=10 -2, this group then Be the optimum correction parameter of ATM wide-angle imaging machine camera lens.Otherwise, with parameter
Figure BDA0000041151670000056
Be made as initial value, promptly
Figure BDA0000041151670000057
Figure BDA0000041151670000058
Figure BDA0000041151670000059
Figure BDA00000411516700000510
At this moment, center of distortion q 0Coordinate be Make straight line With straight line
Figure BDA00000411516700000513
Intersection point be
Figure BDA00000411516700000514
(2) utilize following two formulas to adjust the correction parameter { k that previous step is obtained 1, k 2, u 0, v 0Value:
k 1 = k 1 + α 1 DE _ k | cos ∠ q 0 q i j | k 2 = k 2 + α 2 DE _ k | sin ∠ q 0 q i j |
u 0 = u 0 + β 1 DE _ k | cos ∠ q 0 q i j | v 0 = v 0 + β 2 DE _ k | sin ∠ q 0 q i j |
Wherein, α 1And α 2Be respectively k 1And k 2Iteration step length, β 1And β 2Be respectively u 0And v 0Iteration step length.
(3) according to the new correction parameter values that obtains in (2), calculate characteristic point on each bar straight line
Figure BDA00000411516700000517
Proofread and correct the back image coordinate
Figure BDA00000411516700000518
u i j ′ - u 0 = ( u i j - u 0 ) ( 1 + k 1 r 2 ) v i j ′ - v 0 = ( v i j - v 0 ) ( 1 + k 2 r 2 )
Wherein,
Figure BDA00000411516700000520
Distortion in images is estimated behind the calculation correction again:
DE _ k = max 1 ≤ j ≤ M max 1 ≤ i ≤ N j | | q i j ′ - q i j ′ ′ | | | | q i j ′ - q 0 | |
If DE_k is less than pre-set threshold ε=10 -2, order
Figure BDA00000411516700000522
Figure BDA00000411516700000523
Figure BDA00000411516700000524
Figure BDA00000411516700000525
This group then
Figure BDA00000411516700000526
Be the optimum correction parameter of ATM wide-angle imaging machine camera lens.Otherwise, turn to (2)
5. the optimum correction parameter that obtains based on step 4 is proofreaied and correct the ATM wide angle picture:
According to correction parameter
Figure BDA0000041151670000061
With following formula with the fault image coordinate be (u, pixel value v) compose to proofreading and correct the corresponding points of back image coordinate for (u ', v ') (if u ", v " is not integer, then allows them become integer by the method that rounds up):
u ′ - u 0 * = ( u - u 0 * ) ( 1 + k 1 * r 2 ) v ′ - v 0 * = ( v - v 0 * ) ( 1 + k 2 * r 2 )
Wherein, Image after obtaining proofreading and correct is at (u ', v ') when locating not have pixel value, obtains the pixel value that (u ', v ') locates by interpolation algorithm.
The present invention can proofread and correct all kinds of ATM wide-angle lens effectively by setting up different manufacturers different model ATM wide-angle lens correction parameter storehouse.Especially, if the correction parameter information of this wide-angle imaging head to be corrected in the lens correction parameter library that we set up, then it does not need to carry out iteration and proofreaies and correct wide angle picture rapidly and accurately; If the correction parameter information of this wide-angle imaging head is not in the lens correction parameter library that we set up, can estimate that minimum group parameter with distortion is that initial value carries out iteration, thereby try to achieve optimum correction parameter quickly and accurately, based on this group optimized parameter, we just can proofread and correct accurately to the wide-angle lens image.
Above embodiment is only for the usefulness that the present invention is described, but not limitation of the present invention, person skilled in the relevant technique; under the situation that does not break away from the spirit and scope of the present invention; can also make various conversion or modification, so all technical schemes that are equal to, all fall into protection scope of the present invention.

Claims (5)

1. an ATM wide-angle imaging machine lens distortion calibration method is characterized in that, may further comprise the steps:
According to camera marking method based on the plane of motion template, obtain the ATM wide-angle imaging machine lens correction parameter of different manufacturers different model, these parameters comprise lateral aberration parameter k 1, longitudinal distortion parameter k 2, lateral aberration center u 0With longitudinal distortion center v 0, build the storehouse according to the ATM wide-angle imaging machine lens correction parameter of different manufacturers different model:
In comprising the scene of some straight lines, take a width of cloth wide angle picture, and to the M bar curve L on the image 1, L 2..., L j..., L M, 1≤j≤M carries out manual punctuate, L jBy N jIndividual point
Figure FDA0000041151660000011
Constitute 1≤i≤N j, make straight line
Figure FDA0000041151660000012
With straight line
Figure FDA0000041151660000013
Intersection point be
Figure FDA0000041151660000014
Coordinate
Figure FDA0000041151660000015
Center of distortion for wide angle picture;
Determine the optimized parameter of one group of this ATM wide-angle imaging machine lens correction
According to correction parameter
Figure FDA0000041151660000017
With following formula with the fault image coordinate be (u, pixel value v) compose to proofreading and correct the corresponding points of back image coordinate for (u ', v '):
u ′ - u 0 * = ( u - u 0 * ) ( 1 + k 1 * r 2 ) v ′ - v 0 * = ( v - v 0 * ) ( 1 + k 2 * r 2 )
Wherein,
Figure FDA0000041151660000019
Image after obtaining proofreading and correct.
2. ATM wide-angle imaging machine lens distortion calibration method according to claim 1 is characterized in that:
The described optimized parameter of determining one group of this ATM wide-angle imaging machine lens correction
Figure FDA00000411516600000110
Step comprise following substep:
1. to a certain group of parameter in the distortion correction parameter library
Figure FDA00000411516600000111
Utilize following formula to calculate that all features account on each bar curve
Figure FDA00000411516600000112
Proofread and correct the back image coordinate
Figure FDA00000411516600000113
u i j ′ - u 0 s = ( u i j - u 0 s ) ( 1 + k 1 j r 2 ) v i j ′ - v 0 s = ( v i j - v 0 s ) ( 1 + k 2 j r 2 )
Wherein,
Figure FDA00000411516600000115
Utilize this group coefficient that image is proofreaied and correct, proofread and correct the back distortion in images estimate for:
DE _ k = max 1 ≤ j ≤ M max 1 ≤ i ≤ N j | | q i j ′ - q i j ′ ′ | | | | q i j ′ - q 0 s | |
This s distortion in estimating minimum that be designated as DE_k *, its pairing that group parameter is designated as
Figure FDA00000411516600000117
If DE_k *Less than pre-set threshold ε, this group then
Figure FDA0000041151660000021
Be the optimum correction parameter of ATM wide-angle imaging machine camera lens; Otherwise, with parameter Be made as initial value, promptly
Figure FDA0000041151660000023
Figure FDA0000041151660000025
At this moment, center of distortion q 0Coordinate be
Figure FDA0000041151660000027
Make straight line
Figure FDA0000041151660000028
With straight line
Figure FDA0000041151660000029
Intersection point be
Figure FDA00000411516600000210
2. utilize following two formulas to adjust the correction parameter { k that previous step is obtained 1, k 2, u 0, v 0Value:
k 1 = k 1 + α 1 DE _ k | cos ∠ q 0 q i j | k 2 = k 2 + α 2 DE _ k | sin ∠ q 0 q i j |
u 0 = u 0 + β 1 DE _ k | cos ∠ q 0 q i j | v 0 = v 0 + β 2 DE _ k | sin ∠ q 0 q i j |
Wherein, α 1And α 2Be respectively k 1And k 2Iteration step length, β 1And β 2Be respectively u 0And v 0Iteration step length;
3. according to the new correction parameter values that obtains in 2., calculate characteristic point on each bar straight line Proofread and correct the back image coordinate
Figure FDA00000411516600000214
u i j ′ - u 0 = ( u i j - u 0 ) ( 1 + k 1 r 2 ) v i j ′ - v 0 = ( v i j - v 0 ) ( 1 + k 2 r 2 )
Wherein,
Figure FDA00000411516600000216
Distortion in images is estimated behind the calculation correction again:
DE _ k = max 1 ≤ j ≤ M max 1 ≤ i ≤ N j | | q i j ′ - q i j ′ ′ | | | | q i j ′ - q 0 | |
If DE_k less than pre-set threshold ε, makes
Figure FDA00000411516600000218
Figure FDA00000411516600000219
Figure FDA00000411516600000221
This group then
Figure FDA00000411516600000222
Be the optimum correction parameter of ATM wide-angle imaging machine camera lens; Otherwise, turn to 2..
3. ATM wide-angle imaging machine lens distortion calibration method according to claim 2, it is characterized in that: described pre-set threshold ε is: ε=10 -2
4. according to the ATM wide-angle imaging machine lens distortion calibration method described in the claim 1, it is characterized in that:
ATM wide-angle imaging machine lens distortion calibration parameter according to the different manufacturers different model is built the storehouse:
Figure FDA00000411516600000223
1≤s≤S, always total S group parameter, each group parameter comprises the lateral aberration degree
Figure FDA00000411516600000224
The longitudinal distortion degree
Figure FDA00000411516600000225
The center of distortion Four parameters, With
Figure FDA00000411516600000228
Be respectively lateral aberration center and longitudinal distortion center.
5. according to each described ATM wide-angle imaging machine lens distortion calibration method among the claim 1-4, it is characterized in that: at (u ', v ') when locating not have pixel value, obtain the pixel value that (u ', v ') locates by interpolation algorithm.
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