相机畸变的混合模型迭代检校法
|
摘要
严格的相机检校是进行高精度测量和三维模型重建的基础。本文通过模拟理想影像并对之加入各种畸变,针对相机平面畸变检校模型中的径向、偏心和平面内3种畸变进行了探讨,结果发现同时考虑径向、偏心和线性3种畸变的物理检校模型要优于只考虑其中某一种或两种畸变的物理检校模型;试验结果同时表明现有物理检校模型并不能完全消除影像畸变;针对物理检校模型不能完全消除影像畸变的问题,本文引入数学检校模型(切比雪夫多项式),并提出物理检校模型和数学检校模型混合迭代检校的思想,通过模拟影像试验验证这一方法比单一使用物理模型或数学模型更能有效地降低影像畸变;最后本文对运动相机GoPro影像检校试验进一步验证了提出的混合模型迭代检校法能够更好地检校影像畸变。
Rigorous camera calibration is fundamental to perform accurate measurement and 3D reconstruction. This paper analyses the calibration models for three types of planimetric distortions namely radial distortion,decentering distortion and the orthogonality and affinity( linear) distortion. These distortions are simulated and introduced to ideal images in order to conduct experimental tests. The results indicate that no matter what kind of distortion the images have,the physical model which takes into account all three type of distortion performs best,however,the experimental results also indicate that the existing physical models cannot completely eliminate the image distortion. Therefore,a mathematical calibration model( Chebyshev polynomial) is introduced,and an iterative calibration approach is adapted to attempt to further improve the calibration results. The hybrid iterative calibration approach chooses the calibration model during iterations alternatively between a physical model and a mathematical model. Calibration results from both simulated images and real images( GoPro camera) demonstrate that the use of the proposed hybrid iterative calibration approach can further reduce the distortion.
Rigorous camera calibration is fundamental to perform accurate measurement and 3D reconstruction. This paper analyses the calibration models for three types of planimetric distortions namely radial distortion,decentering distortion and the orthogonality and affinity( linear) distortion. These distortions are simulated and introduced to ideal images in order to conduct experimental tests. The results indicate that no matter what kind of distortion the images have,the physical model which takes into account all three type of distortion performs best,however,the experimental results also indicate that the existing physical models cannot completely eliminate the image distortion. Therefore,a mathematical calibration model( Chebyshev polynomial) is introduced,and an iterative calibration approach is adapted to attempt to further improve the calibration results. The hybrid iterative calibration approach chooses the calibration model during iterations alternatively between a physical model and a mathematical model. Calibration results from both simulated images and real images( GoPro camera) demonstrate that the use of the proposed hybrid iterative calibration approach can further reduce the distortion.
引文
[1]王之卓.摄影测量原理续编[M].武汉:武汉大学出版社,2007.
[2]张祖勋,张剑清.数字摄影测量学[M].武汉:武汉大学出版社,2012.
[3]詹总谦.基于纯平液晶显示器的相机标定方法与应用研究[D].武汉:武汉大学,2006.
[4]陈新玺.多基线普通数码影像近景摄影测量技术研究[D].南京:河海大学,2006.
[5]FRASER C S.Digital camera self-calibration[J].ISPRSJournal of Photogrammetry and Remote Sensing,1997,52(4):149-159.
[6]TSAI R.A versatile camera calibration technique for highaccuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J].IEEE Journal on Robotics and Automation,1987,3(4):323-344.
[7]姚娜,林招荣,任超锋,等.一种适合摄像机非线性畸变校正的畸变模型[J].激光与光电子学进展,2014,51(2):167-174.
[8]DUANE C B.Close-range camera calibration[J].Photogrammetric Engineering,1971,37(8):855-866.
[9]崔璨璨,汪佳丽,马振玲.相机检校的迭代处理方法[J].测绘通报,2018(6):50-54.
[10]RIVLIN T J.The Chebyshev polynomials[M].New York:Wiley,1974.
[11]MASON J C,HANDSCOMB D C.Chebyshev polynomials[M].New York:Chapman and Hall/CRC,2002.
[12]SNOW W L,CHILDERS B A,SHORTIS M R.The calibration of video cameras for quantitative measurements[C]∥Proceedings of the 39th International Instrumentation Symposium,Albuquerque.[S.l.]:ISAPublications,1993:103-130.
[13]冯文灏.关于近景摄影机检校的几个问题[J].测绘通报,2000(10):1-3.
[14]佩捷,吴雨宸,李舒畅.切比雪夫多项式[M].哈尔滨:哈尔滨工业大学出版社,2016.
[15]HASTEDT H,LUHMANN T,TECKLENBURG W.Imagevariant interior orientation and sensor modelling of highquality digital cameras[J].International Archives of Photogrammetry Remote Sensing and Spatial Information Sciences,2002,34(5):27-32.
[2]张祖勋,张剑清.数字摄影测量学[M].武汉:武汉大学出版社,2012.
[3]詹总谦.基于纯平液晶显示器的相机标定方法与应用研究[D].武汉:武汉大学,2006.
[4]陈新玺.多基线普通数码影像近景摄影测量技术研究[D].南京:河海大学,2006.
[5]FRASER C S.Digital camera self-calibration[J].ISPRSJournal of Photogrammetry and Remote Sensing,1997,52(4):149-159.
[6]TSAI R.A versatile camera calibration technique for highaccuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses[J].IEEE Journal on Robotics and Automation,1987,3(4):323-344.
[7]姚娜,林招荣,任超锋,等.一种适合摄像机非线性畸变校正的畸变模型[J].激光与光电子学进展,2014,51(2):167-174.
[8]DUANE C B.Close-range camera calibration[J].Photogrammetric Engineering,1971,37(8):855-866.
[9]崔璨璨,汪佳丽,马振玲.相机检校的迭代处理方法[J].测绘通报,2018(6):50-54.
[10]RIVLIN T J.The Chebyshev polynomials[M].New York:Wiley,1974.
[11]MASON J C,HANDSCOMB D C.Chebyshev polynomials[M].New York:Chapman and Hall/CRC,2002.
[12]SNOW W L,CHILDERS B A,SHORTIS M R.The calibration of video cameras for quantitative measurements[C]∥Proceedings of the 39th International Instrumentation Symposium,Albuquerque.[S.l.]:ISAPublications,1993:103-130.
[13]冯文灏.关于近景摄影机检校的几个问题[J].测绘通报,2000(10):1-3.
[14]佩捷,吴雨宸,李舒畅.切比雪夫多项式[M].哈尔滨:哈尔滨工业大学出版社,2016.
[15]HASTEDT H,LUHMANN T,TECKLENBURG W.Imagevariant interior orientation and sensor modelling of highquality digital cameras[J].International Archives of Photogrammetry Remote Sensing and Spatial Information Sciences,2002,34(5):27-32.