Image Processing Fundamentals - IIT Roorkee · 2020. 1. 7. · Calibration Object •Calibration relies on one or more images of a calibration object: (1) A 3D object of known geometry.

Camera Calibration

MAN-522: COMPUTER VISION

Camera Calibration - Goal

• Estimate the extrinsic and intrinsic camera parameters.

f/sx f/sy

Camera Calibration - How

• Using a set of known correspondences between point features

in the world (Xw, Yw, Zw) and their projections on the image

(xim, yim)

f/sx f/sy

Calibration Object

• Calibration relies on one or more images of a calibration

object:

(1) A 3D object of known geometry.

(2) Located in a known position in space.

(3) Yields image features which can be located accurately.

Calibration object: example

• Two orthogonal grids of

equally spaced black squares.

• Assume that the world

reference frame is centered at

the lower left corner of the

right grid, with axes parallel to

the three directions identified by

the calibration pattern.

Calibration pattern: example (cont’d)

• Obtain 3D coordinates (Xw, Yw, Zw)

– Given the size of the planes, the number

of squares etc. (i.e., all known by

construction), the coordinates of each

vertex can be computed in the world

reference frame using trigonometry.

Calibration pattern: example (cont’d)

• Obtain 2D coordinates (xim, yim)

– The projection of the vertices on

the image can be found by

intersecting the edge lines of the

corresponding square sides (or

through corner detection).

Problem Statement

Compute the extrinsic and intrinsic camera

parameters from N corresponding pairs of points:

and (xim_i , yim_i ), i = 1, . . . , N. ( , , )W W W

i i iX Y Z

• Very well studied problem.

• There exist many different methods for camera calibration.

Methods

(1) Indirect camera calibration

(1.1) Estimate the elements of the projection matrix.

(1.2) If needed, compute the intrinsic/extrinsic camera

parameters from the entries of the projection matrix.

Methods (cont’d)

(2) Direct camera calibration

Direct recovery of the intrinsic and extrinsic camera

parameters.

Method 1: Indirect Camera Calibration

• Review of basic equations

Note: replaced (xim,yim) with (x,y) for simplicity.

(Method 1) Step 1: solve for mij’s

• M has 11 independent entries.

– e.g., divide every entry by m11

• Need at least 11 equations for computing M.

• Need at least 6 world-image point correspondences.

(Method 1) Step 1: solve for mij’s

• Each 3D-2D correspondence gives rise to two equations:

( , , ) ( , )W W W

i i i i iX Y Z x y

(Method 1) Step 1: solve for mij’s

• This leads to a homogeneous system of equations:

N x 12 matrix

(Method 1) Step 1: solve for mij’s

(Method 1) Step 2: find intrinsic/extrinsic parameters

(Method 1) Step 2: find intrinsic/extrinsic parameters

• Let’s define the following vectors:

• The solutions are as follows (see book chapter for

details):

• The rest parameters are easily computed ....

(Method 1) Step 2: find intrinsic/extrinsic parameters

Method 2: Direct Camera Calibration

• Review of basic equations

– From world coordinates to camera coordinates

– For simplicity, we will replace -T’ with T

– Warning: this is NOT the same T as before!

Pc=RPw+T

Method 2: Direct Camera Calibration (cont’d)

• Review of basic equations

– From camera coordinates to pixel coordinates:

– Relating world coordinates to pixel coordinates:

Method 2: Direct Parameter Calibration

• Intrinsic parameters

– Intrinsic parameters f, sx, sy, ox, and oy are not independent.

– Define the following four independent parameters:

Method 2: Main Steps

(1) Assuming that ox and oy are known,

estimate all other parameters.

(2) Estimate ox and oy

(Method 2) Step 1: estimate f x , α, R, and T

• To simplify notation, set (xim- ox , yim- oy) = (x, y)

• Combining the equations above (i.e., same denominator),

we have:

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Each pair of corresponding points must satisfy the previous

equation:

( , , ) ( , )W W W

i i i i iX Y Z x y

divide by f y and re-arrange terms:

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

where

we obtain the following equation:

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Assuming N correspondences leads to a homogeneous

system :

N x 8 matrix

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Determine α and | γ |

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Determine r21, r22, r23, r11, r12, r13, Ty, Tx

(up to an unknown common sign)

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Determine r31, r32, r33

– Can be estimated as the cross product of R1 and R2:

– The sign of R3 is already fixed (the entries of R3 remain

unchanged if the signs of all the entries of R1 and R2 are

reversed).

• We have estimated R call the estimate

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Ensure the orthogonality of R

– The computation of R does not take into account explicitly

the orthogonality constraints.

– The estimate of R cannot be expected to be orthogonal:

– Enforce orthogonality on using SVD:

– Replace D with I:

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Determine the sign of γ

– Consider the following equations again:

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Determine Tz and fx

– Consider the equation:

– Let’s rewrite it in the form:

or xTz+fx(r11Xw+r12Yw+r13Zw+Tx) = -x(r31Xw+r32Yw+r33Zw)

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

– We can obtain Tz and fx by solving a system of equations like

the above, written for N points:

Using SVD, the (least-squares) solution is:

(Method 2) Step 1: estimate f x , α, R, and T

(cont’d)

• Determine fy:

(Method 2) Step 2: estimate ox and oy

• The computation of ox and oy is based on the following

theorem:

Orthocenter Theorem: Let T be the triangle on the image

plane defined by the three vanishing points of three

mutually orthogonal sets of parallel lines in space. Then,

(ox , oy) is the orthocenter of T.

(Method 2) Step 2: estimate ox and oy (cont’d)

• We can use the same calibration pattern to compute

three vanishing points (use three pairs of parallel lines

defined by the sides of the planes).

• None of the three mutually

orthogonal directions should

not be near parallel to the

image plane!

Comments

• To improve the accuracy of camera calibration, it

is a good idea to estimate the parameters several

times (i.e., using different images) and average the

results.

• Localization errors

– The precision of calibration depends on how accurately

the world and image points are located.

– Studying how localization errors "propagate" to the

estimates of the camera parameters is very important.

Comments (cont’d)

• In theory, direct and indirect camera calibration

should produce the same results.

• In practice, we obtain different solutions due to

different error propagations.

• Indirect camera calibration is simpler and should be

preferred when we do not need to compute the

intrinsic/extrinsic camera parameters explicitly.

How should we estimate the accuracy

of a calibration algorithm?

• Project known 3D points on the image

• Compare their projections with the corresponding

pixel coordinates of the points.

• Repeat for many points and estimate “re-projection”

error!