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Camera Calibration From Planar Patterns: Mitul Saha

Camera calibration from planar patterns involves two steps: 1) estimating an initial solution for the camera intrinsics and extrinsics by analyzing image homographies of a planar pattern, and 2) minimizing an objective function to refine the solution. Zhang's 1999 ICCV paper presented a flexible camera calibration approach using a planar pattern viewed from unknown orientations. It estimates homography matrices to initialize intrinsics, then optimizes the intrinsics and extrinsics to minimize reprojection error.

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49 views11 pages

Camera Calibration From Planar Patterns: Mitul Saha

Camera calibration from planar patterns involves two steps: 1) estimating an initial solution for the camera intrinsics and extrinsics by analyzing image homographies of a planar pattern, and 2) minimizing an objective function to refine the solution. Zhang's 1999 ICCV paper presented a flexible camera calibration approach using a planar pattern viewed from unknown orientations. It estimates homography matrices to initialize intrinsics, then optimizes the intrinsics and extrinsics to minimize reprojection error.

Uploaded by

Phoenix Rulz
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Camera Calibration from

Planar Patterns

(courtesy:
Jean-Yves Bouguet, Intel)

Mitul Saha

Homework 2 Help Session CS223b Stanford University


Camera Calibration
Object Space Image Space

YW
M yc
m
W
Z XW
xc

m = [Camera Projection Matrix] M

fx alpha* f x ox
fy oy
0 A [R t]
0 0 1
camera intrinsics extrinsics
Camera Calibration
Object Space Image Space

YW
M yc

Z WX W m
xc

m = [Camera Projection Matrix] M

fx alpha* f x ox
fy oy • Camera calibration is about
0 A [R t] finding the camera intrinsics
0 0 1 • But, why do we need them?
camera intrinsics extrinsics
Camera Calibration
• Common approach

Non-planar pattern
Planar pattern
Camera Calibration from
Planar Patterns
• ICCV Zhang’99: “Flexible Calibration by
Viewing a Plane From Unknown Orientations”

m = [Camera Projection Matrix] M

A [R t]

Minimize:

estimate: A [R t] M
observed
Camera Calibration from
Planar Patterns
• ICCV Zhang’99: “Flexible Calibration by
Viewing a Plane From Unknown Orientations”

m = [Camera Projection Matrix] M

A [R t] • Two steps:
• Find an initial solution
for A [R t]
Minimize: • Minimize the objective function
using the initial solution

estimate: A [R t] M
observed
Camera Calibration from
Planar Patterns
• Finding an initial solution
– First step
• Estimate the image homography matrix H for each image

[u, v, 1]T

Minimize:
Initial solution for minimization:

L
x is the eigenvector of LTL
with smallest eigenvalue
Camera Calibration from
Planar Patterns
• Finding an initial solution
– First step
• Estimate the image homography matrix H for each image
– Second step
• Solve for b in the linear system: V b = 0

V=
B = A –T A -1

b is the eigenvector of VTV


with smallest eigenvalue
Camera Calibration from
Planar Patterns
• Finding an initial solution
– First step
• Estimate the image homography matrix H for each image
– Second step
• Solve for b in the linear system: V b = 0
• b yields the intrinsic parameter matrix A.
Rotation matrix [r1 r2 r3] and translation t is computed from:
Camera Calibration from
Planar Patterns
• Finding an initial solution
– First step
• Estimate the image homography matrix H for each image
– Second step
• Solve for b in the linear system: V b = 0
• b yields the intrinsic parameter matrix A.
Rotation matrix [r1 r2 r3] and translation t:
• But the computed rotation matrix does not satisfy the properties of
rotation matrix: RTR=RRT=I.
One can it enforce by: min||Rnew - R||,
[U D V] = SVD(R),
Rnew = UVT
Camera Calibration from
Planar Patterns

m = [Camera Projection Matrix] M

A [R t] • Two steps:
• Find an initial solution
for A [R t]
Minimize: • Minimize the objective function
using the initial solution

use “lsqnonlin” in Matlab


estimate: A [R t] M
observed

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