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摄像机标定中Tsai栅格的自动化角点检测算法

发表时间:2013-11-30  浏览量:1408  下载量:387
全部作者: 王吉健,祝永新
作者单位: 上海交通大学微电子学院;上海华虹集成电路有限责任公司
摘 要: 提出了一种自动化检测Tsai栅格中角点的算法。首先,利用Harris角点检测算法得到备选的角点集合;接着,在此备选角点集合的基础上,受随机抽样一致算法(random sample consensus, RAMC)的启发,利用备选角点,拟合并筛选出图像中的直线,这些直线对应标定图案中通过Tsai栅格中角点的横竖直线,称标定图案中的横竖直线为特征直线,特征直线的交点就是Tsai栅格的角点;最后,利用图像中的特征直线与图像边框交点的坐标,对图像中的特征直线排序,计算它们的交点,得到图像中排好序的角点坐标。采用不同焦距、不同角度、不同光照及对焦情况下拍摄的图像进行实验,表明该算法能在大部分光照与对焦情况下,完成角点的自动化检测。用该算法检测出的角点去做摄像机标定,标定结果有很好的准确性和一致性。
关 键 词: 图像处理;计算机视觉;摄像机标定;角点自动化提取;Tsai栅格
Title: An automatic corner detection method for Tsai grid in camera calibration
Author: WANG Jijian, ZHU Yongxin
Organization: School of Microelectronics, Shanghai Jiao Tong University; Shanghai Huahong Integrated Circuit Co., Ltd.
Abstract: This paper proposes an automatic corner detection method for Tsai grid in camera calibration. Harris corner detection method is used to get a rough corner point set. Enlightened by the random sample consensus (RANSAC) method, we fit and select out the lines which are the cross lines connecting the corners of Tsai grid based on that rough set. These cross lines in Tsai grid pattern are defined as interest lines, then the intersection points of these interest lines are the corner points of Tsai grid. Using the coordinate value of the intersections of these interest lines and the image borders, we then sort the interest lines. Then by calculating the intersections of these interest lines, we obtain the coordinate values of sorted corner points. In the experiment, this method is tested with several practical images taken from different angles in different illumination and focus conditions. The results show that in most illumination and focus conditions, this method can complete the corner detection automatically. The calibration results show that using the interest points detected by this method, very good and converging calibration results can be given out.
Key words: image processing; computer vision; camera calibration; automatic corner detection; Tsai grid
发表期数: 2013年11月第22期
引用格式: 王吉健,祝永新. 摄像机标定中Tsai栅格的自动化角点检测算法[J]. 中国科技论文在线精品论文,2013,6(22):2179-2186.
 
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