Depth-Camera Calibration Optimization Method Based on Homography Matrix

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence Pub Date : 2019-09-20 DOI:10.1145/3366194.3366198

Dongdong Li, Guangzhu Chen, Chunjiang Li, Xiaofeng Huang

{"title":"Depth-Camera Calibration Optimization Method Based on Homography Matrix","authors":"Dongdong Li, Guangzhu Chen, Chunjiang Li, Xiaofeng Huang","doi":"10.1145/3366194.3366198","DOIUrl":null,"url":null,"abstract":"A self-calibration method of the depth-camera based on homography matrix is proposed to improve the accuracy and ease of use in calibrating the depth-camera. Firstly, the shortcomings of the existing self-calibration methods are pointed out, and the internal conversion model of the depth-camera is established. Then, the proposed self-calibration mathematical model of the depth-camera is deduced according to the imaging relationship of image pairs, and the internal and external parameters of the depth-camera are obtained by solving the essential matrix and the corresponding matrix. Finally, the distortion parameters of the depth-camera are obtained by an immune clonal selection algorithm being used for optimizing the distortion model of the depth image. Compared with Zhang's calibration method, the relative errors of the focal length and the coordinates obtained by the proposed self-calibration calibration method are smaller, in addition it has a good restoration effect for the edge distortions of the depth images.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366198","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

Abstract

A self-calibration method of the depth-camera based on homography matrix is proposed to improve the accuracy and ease of use in calibrating the depth-camera. Firstly, the shortcomings of the existing self-calibration methods are pointed out, and the internal conversion model of the depth-camera is established. Then, the proposed self-calibration mathematical model of the depth-camera is deduced according to the imaging relationship of image pairs, and the internal and external parameters of the depth-camera are obtained by solving the essential matrix and the corresponding matrix. Finally, the distortion parameters of the depth-camera are obtained by an immune clonal selection algorithm being used for optimizing the distortion model of the depth image. Compared with Zhang's calibration method, the relative errors of the focal length and the coordinates obtained by the proposed self-calibration calibration method are smaller, in addition it has a good restoration effect for the edge distortions of the depth images.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

基于单应性矩阵的深度摄像机标定优化方法

为了提高深度相机标定的精度和易用性，提出了一种基于单应性矩阵的深度相机自标定方法。首先，指出了现有自标定方法的不足，建立了深度相机的内部转换模型;然后，根据图像对的成像关系，推导了深度相机的自标定数学模型，并通过求解本质矩阵和对应矩阵得到了深度相机的内外参数。最后，利用免疫克隆选择算法获得深度相机的畸变参数，并对深度图像的畸变模型进行优化。与Zhang的校准方法相比，所提出的自校准方法获得的焦距和坐标的相对误差更小，并且对深度图像的边缘畸变有很好的恢复效果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence

自引率

0.00%

发文量