JP2013524593A - 複数カメラのキャリブレーション用の方法および構成 - Google Patents
複数カメラのキャリブレーション用の方法および構成 Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D21/00—Shutting-down of machines or engines, e.g. in emergency; Regulating, controlling, or safety means not otherwise provided for
- F01D21/003—Arrangements for testing or measuring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D25/00—Component parts, details, or accessories, not provided for in, or of interest apart from, other groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N21/15—Preventing contamination of the components of the optical system or obstruction of the light path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/85—Investigating moving fluids or granular solids
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
- G02B23/2492—Arrangements for use in a hostile environment, e.g. a very hot, cold or radioactive environment
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2260/00—Function
- F05D2260/80—Diagnostics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N21/15—Preventing contamination of the components of the optical system or obstruction of the light path
- G01N2021/151—Gas blown
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2201/00—Features of devices classified in G01N21/00
- G01N2201/08—Optical fibres; light guides
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Astronomy & Astrophysics (AREA)
- Optics & Photonics (AREA)
- Image Analysis (AREA)
- Studio Devices (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
Description
Claims (15)
- 複数の視点位置の中で少なくとも2台のカメラ(カメラ1、カメラ2)用にキャリブレーション・データを算出するための方法であって、前記方法が、同じシーンを前記カメラによって撮影したそれぞれの画像(画像1、画像2)上で少なくとも1つのそれぞれのホモグラフィ変換を識別するためのそれぞれのパラメータ((h1 00,...,h1 22),(h2 00,...,h2 22))を、前記それぞれの画像(画像1、画像2)上でそれぞれの幾何解析を実行することによって算出するステップと、前記それぞれの画像上で少なくとも1つのそれぞれの結合ホモグラフィ変換/特徴検出ステップを実行し、それによってそれぞれの変換された画像上でそれぞれの特徴のセット(特徴セット1、特徴セット2)を取得するステップとを含み、その結果前記キャリブレーション・データが前記それぞれの特徴のセットの間で求められた一致(m1,...,mk)から取得される、方法。
- 前記キャリブレーション・データが前記カメラ間の相対位置に関する情報を含む、請求項1に記載の方法。
- 前記キャリブレーション・データが前記カメラ間の相対視野角の差異に関する情報を含む、請求項1または2に記載の方法。
- 前記少なくとも1つのそれぞれの結合ホモグラフィ変換/特徴検出ステップ(300)が、前記それぞれの画像を変換するステップ(302)と、それに続く前記変換された画像内で特徴を検出するステップ(301)とを含む、請求項1乃至3のいずれか1項に記載の方法。
- 前記少なくとも1つのそれぞれの結合ホモグラフィ変換/特徴検出ステップ(300)が、前記それぞれの画像(画像1)のすべてのピクセル座標が変換されるまで、前記それぞれの画像のピクセル座標変換(3002)とそれに続く部分的に変換された画像の特徴検出(3001)とを反復する処理を含む、請求項1乃至3のいずれか1項に記載の方法。
- 前記それぞれの幾何解析ステップ(100)が前記それぞれの画像上のライン・セグメントを求めるステップを含む、請求項1乃至5のいずれか1項に記載の方法。
- 前記それぞれの幾何解析ステップ(100)が前記それぞれの画像上のカーブ・セグメントを求めるステップを含む、請求項1乃至5のいずれか1項に記載の方法。
- 前記それぞれの幾何解析ステップ(100)が前記それぞれの画像上の物体認識を実行するステップを含む、請求項1乃至5のいずれか1項に記載の方法。
- 前記それぞれのライン・セグメントが前記少なくとも2台のカメラ間の視点角度の差異を算出するためにさらに使用される、請求項6に記載の方法。
- 前記キャリブレーション・データが前記それぞれの特徴のセットからさらに算出される、請求項1乃至9のいずれか1項に記載の方法。
- 前記キャリブレーション・データが前記それぞれのホモグラフィ変換を識別するための前記パラメータからさらに算出される、請求項1乃至10のいずれか1項に記載の方法。
- 前記キャリブレーション・データがその値を前記一致に基づいてさらに最適化することができる内部カメラ・パラメータをさらに含む、請求項1乃至11のいずれか1項に記載の方法。
- 請求項1乃至12に提示されたようなステップのいずれかを実行するように適合された装置。
- 請求項1乃至13のいずれか1項に記載の方法のいずれかを実行するように適合されたコンピュータ・プログラム。
- 請求項14に記載のコンピュータ・プログラムを含むコンピュータ可読記憶媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP10305309.6A EP2375376B1 (en) | 2010-03-26 | 2010-03-26 | Method and arrangement for multi-camera calibration |
EP10305309.6 | 2010-03-26 | ||
PCT/EP2011/053483 WO2011117069A1 (en) | 2010-03-26 | 2011-03-08 | Method and arrangement for multi-camera calibration |
Publications (2)
Publication Number | Publication Date |
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JP2013524593A true JP2013524593A (ja) | 2013-06-17 |
JP5538617B2 JP5538617B2 (ja) | 2014-07-02 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2013501714A Expired - Fee Related JP5538617B2 (ja) | 2010-03-26 | 2011-03-08 | 複数カメラのキャリブレーション用の方法および構成 |
Country Status (7)
Country | Link |
---|---|
US (1) | US9303525B2 (ja) |
EP (1) | EP2375376B1 (ja) |
JP (1) | JP5538617B2 (ja) |
KR (1) | KR101333871B1 (ja) |
CN (1) | CN102834845B (ja) |
TW (1) | TWI485650B (ja) |
WO (1) | WO2011117069A1 (ja) |
Cited By (1)
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2010
- 2010-03-26 EP EP10305309.6A patent/EP2375376B1/en not_active Not-in-force
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2011
- 2011-03-08 KR KR1020127027882A patent/KR101333871B1/ko not_active IP Right Cessation
- 2011-03-08 CN CN201180016318.3A patent/CN102834845B/zh not_active Expired - Fee Related
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JP2004334819A (ja) * | 2003-03-13 | 2004-11-25 | Toshiba Corp | ステレオキャリブレーション装置とそれを用いたステレオ画像監視装置 |
JP2006042361A (ja) * | 2004-07-27 | 2006-02-09 | Microsoft Corp | パターンを利用せずに画像間ホモグラフィによって複数のカメラを校正するためのシステムおよび方法 |
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JP5538617B2 (ja) | 2014-07-02 |
KR101333871B1 (ko) | 2013-11-27 |
TWI485650B (zh) | 2015-05-21 |
US9303525B2 (en) | 2016-04-05 |
CN102834845B (zh) | 2016-10-26 |
CN102834845A (zh) | 2012-12-19 |
US20130070108A1 (en) | 2013-03-21 |
KR20120130788A (ko) | 2012-12-03 |
EP2375376B1 (en) | 2013-09-11 |
EP2375376A1 (en) | 2011-10-12 |
TW201214335A (en) | 2012-04-01 |
WO2011117069A1 (en) | 2011-09-29 |
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