a flexible camera calibration tool for 3d capture
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A Flexible Camera Calibration Tool for 3D Capture. Lei Wang Media and Machine Lab Advisor: Cindy Grimm. 3D Capture. Data Acquisition Camera Calibration Shape Integration Texture Synthesis Shape Texture Integration. Camera Calibration. Camera Model Global Approach Requirement

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a flexible camera calibration tool for 3d capture

A Flexible Camera Calibration Tool for 3D Capture

Lei Wang

Media and Machine Lab

Advisor: Cindy Grimm

3d capture
3D Capture
  • Data Acquisition
  • Camera Calibration
  • Shape Integration
  • Texture Synthesis
  • Shape Texture Integration
camera calibration
Camera Calibration
  • Camera Model
  • Global Approach
  • Requirement
  • Previous Work
  • Our Approach
  • Conclusion
denotation
Denotation
  • 2D Point: m = [u, v, 1]T
  • 3D Point: M = [X, Y, Z]T
  • 2D – 3D: s m =A [R T] M
  • A: Intrinsic Parameters
  • [R T]: Extrinsic Parameters
global approach
Global Approach
  • Take pictures
  • Detect the pattern
  • Extract the feature
  • Solve for intrinsic parameters (one for all)
  • Solve for extrinsic parameters (one for each)
requirement
Requirement
  • Automated
  • Hemisphere Visibility
  • Not occlude the object
  • Robust on lighting conditions
  • Easy to build
  • Easy to detect
planar pattern
Planar Pattern
  • Checkerboard

Tsai’s Algorithm

Zhang’s Algorithm

  • Geometry Pattern
  • Concentric Circle

Jun-Sik Kim, Ho-Won Kim and In-So Kweon’s Algorithm

improved planar pattern
Improved Planar Pattern
  • Move the pattern by hand
  • Place two or more patterns on different plane
  • Place mirrors and use the additional reflected pattern
our approach outline
Our Approach – Outline
  • Design Calibrating Pattern
  • Build Calibrating Pattern
  • Feature Extraction
  • Feature Mapping – Gradient Search
  • Test
cone with basic 3d shapes
Cone with basic 3D shapes
  • Automated
  • Hemisphere visibility
  • Not occlude the object: part of the shape is enough for relying on a group of points
  • Robust for lighting conditions: color ratio
  • Easy to detect: color boundary
  • Easy to build: build from a planar pattern
basic shapes
Basic Shapes
  • Circles
  • Ellipses
  • Lines
  • Points
the printable planar pattern
The Printable Planar Pattern
  • 3D equation, 2D print translation
  • Physical tips
boundary detection
Boundary Detection
  • Color ratio
  • Grouping
ellipses
Ellipses
  • Ellipse detection
  • Ellipse fitting
lines
Lines
  • Line detection
  • Line fitting
points
Points
  • Direct Point detection
  • Intersection of two shapes

- Line-line intersection

- Line-circle intersection

- Line-ellipse intersection

- Ellipse-ellipse intersection(not recommend)

solve for intrinsic parameters
Solve for Intrinsic Parameters
  • Checkerboard
  • OpenCV
  • Flagged Checkerboard
extrinsic by points
Extrinsic by Points
  • Use Points
  • Linear
  • Limitation

- Hard to label

- Inaccurate

- Six points rules not guaranteed

extrinsic by shapes
Extrinsic by Shapes
  • Other Shape
  • Non-Linear
  • Gradient-decent Search

- Cost Function

- Initial Guess

- Step Choose

- Stop Condition

extrinsic by lines
Extrinsic by Lines
  • Cost Function
  • Initial Guess
  • Step Choose
  • Stop Condition
extrinsic by conics
Extrinsic by Conics
  • Cost Function
  • Initial Guess
  • Step Choose
  • Stop Condition
general extrinsic
General Extrinsic
  • General Case
  • Use Combination Pattern
conclusion
Conclusion
  • Easiness
  • Efficiency
conclusion1
Conclusion
  • Accuracy
ad