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access icon free Automatic chessboard corner detection method

© The Institution of Engineering and Technology
Received 14/02/2015, Accepted 05/07/2015, Revised 16/06/2015, Published 01/01/2016

Chessboard corner detection is a necessary procedure of the popular chessboard pattern-based camera calibration technique, in which the inner corners on a two-dimensional chessboard are employed as calibration markers. In this study, an automatic chessboard corner detection algorithm is presented for camera calibration. In authors’ method, an initial corner set is first obtained with an improved Hessian corner detector. Then, a novel strategy that utilises both intensity and geometry characteristics of the chessboard pattern is presented to eliminate fake corners from the initial corner set. After that, a simple yet effective approach is adopted to sort the detected corners into a meaningful order. Finally, the sub-pixel location of each corner is calculated. The proposed algorithm only requires a user input of the chessboard size, while all the other parameters can be adaptively calculated with a statistical approach. The experimental results demonstrate that the proposed method has advantages over the popular OpenCV chessboard corner detection method in terms of detection accuracy and computational efficiency. Furthermore, the effectiveness of the proposed method used for camera calibration is also verified in authors’ experiments.

Inspec keywords: statistical analysis; edge detection; cameras; calibration

Other keywords: Hessian corner detector; chessboard pattern-based camera calibration technique; fake corner elimination; sub-pixel location; automatic chessboard corner detection method; statistical approach; computational efficiency

Subjects: Image sensors; Image recognition; Computer vision and image processing techniques; Other topics in statistics; Measurement standards and calibration; Other topics in statistics

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