http://iet.metastore.ingenta.com
1887

Using vanishing points to estimate parameters of fisheye camera

Using vanishing points to estimate parameters of fisheye camera

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Add to cart
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)
Add to cart

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Computer Vision — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

© The Institution of Engineering and Technology
Received 04/11/2011, Accepted 20/06/2013, Revised 14/05/2013, Published

This study presents an approach for estimating the fisheye camera parameters using three vanishing points corresponding to three sets of mutually orthogonal parallel lines in one single image. The authors first derive three constraint equations on the elements of the rotation matrix in proportion to the coordinates of the vanishing points. From these constraints, the rotation matrix is calculated under the assumption of the image centre known. The experimental results with synthetic images and real fisheye images validate this method. In contrast to the existing methods, the authors method needs less image information and does not know the three-dimensional reference point coordinates.

Inspec keywords: matrix algebra; cameras; image processing; parameter estimation

Other keywords: synthetic images; single image; constraint equations; parameter estimation; rotation matrix; three-dimensional reference point coordinates; vanishing points; image information; fisheye camera; real fisheye images; mutually orthogonal parallel lines

Subjects: Algebra; Optical, image and video signal processing; Algebra; Computer vision and image processing techniques; Image sensors

References

    1. 1)
      • 1. Caprile, B., Torre, V.: ‘Using vanishing points for camera calibration’, Int. J. Comput. Vis., 1990, 4, (2), pp. 127–139 (doi: 10.1007/BF00127813).
    2. 2)
      • 2. Svedberg, D., Carlsson, S.: ‘Calibration, pose and novel views from single images of constrained scenes’, Pattern Recognit. Lett., 2000, 21, (13–14), pp. 1125–1133 (doi: 10.1016/S0167-8655(00)00073-8).
    3. 3)
      • 3. Wilczkowiak, M., Sturm, P., Boyer, E.: ‘Using geometric constraints through parallelepipeds for calibration and 3D modeling’, Trans. Pattern Anal. Mach. Intell., 2005, 27, (2), pp. 194–207 (doi: 10.1109/TPAMI.2005.40).
    4. 4)
      • 4. Hartley, R., Zisserman, A.: ‘Multiple view geometry in computer vision’ (Cambridge University press, 2003, 2nd edn.).
    5. 5)
      • 5. Gallagher, A.C.: ‘Using vanishing points to correct camera rotation in images’. Proc. Second Canadian Conf. Computer and Robot Vision, May 2005.
    6. 6)
      • 6. Avinash, N., Murali, S.: ‘Perspective geometry based single image camera calibration’, J. Math. Imaging Vis., 2008, 30, (3), pp. 221–230 (doi: 10.1007/s10851-007-0052-3).
    7. 7)
      • 7. Mirzaei, F.M., Roumeliotis, S.: ‘Optimal estimation of vanishing points in a Manhattan world’. Proc. IEEE Int. Conf. Computer Vision, 2011, pp. 2454–2461.
    8. 8)
      • 8. Homacek, M., Maierhofer, S.: ‘Extracting vanishing points across multiple views’. IEEE Conf. Computer Vision and Pattern Recognition, 2011, pp. 953–960.
    9. 9)
      • 9. Babaee, K.V., Pourreza, H.R.: ‘Camera parameters estimation in soccer scenes on the basis of points at infinity’, IET Comput. Vis., 2012, 6, (2), pp. 133–139 (doi: 10.1049/iet-cvi.2010.0107).
    10. 10)
      • 10. Nayar, S.: ‘Catadioptric omnidirectional camera’. IEEE Conf. Computer Vision and Pattern Recognition, 1997, pp. 482–488.
    11. 11)
      • 11. Geyer, C., Daniilidis, K.: ‘Catadioptric camera calibration’, Int. J. Comput. Vis., 1999, pp. 398–404.
    12. 12)
      • 12. Geyer, C., Daniilidis, K.: ‘Catadioptric projective geometry’, Int. J. Comput. Vis., 2001, 45, (3), pp. 223–243 (doi: 10.1023/A:1013610201135).
    13. 13)
      • 13. Wu, Y., Hu, Z.: ‘Geometric invariants and applications under catadioptric camera model’. Proc. ICCV, 2005, vol. 1, pp. 1547–1554.
    14. 14)
      • 14. Ying, X., Hu, Z.: ‘Can we consider central catadioptric cameras and fisheye cameras within a unified imaging model’ (ECCV, 2004) pp. 442–455.
    15. 15)
      • 15. Scaramuzza, D., Martinelli, A., Siegwart, R.: ‘A flexible technique for accurate omnidirectional camera calibration and structure from motion’. Proc. IEEE Int. Conf. Computer Vision Systems, 2006.
    16. 16)
      • 16. Mei, C., Rives, P.: ‘Single view point omnidirectional camera calibration from planar grids’. IEEE Int. Conf. Robotics and Automation, 2007, pp. 3945–3950.
    17. 17)
      • 17. Chen, X., Yang, J., Waibel, A.: ‘Calibration of a hybrid camera network’. Proc. Ninth IEEE Int. Conf. Computer Vision, 2003, vol. 1, pp. 150–155.
    18. 18)
      • 18. Bazin, J.C., Kweon, I.S., Demonceaux, C., Vasseur, P.: ‘Uav attitude estimation by vanishing points in catadioptric images’. IEEE Int. Conf. Robotics and Automation, 2008, pp. 2743–2749.
    19. 19)
      • 19. Ho, T.H., Davis, C.C., Milner, S.D.: ‘Using geometric constraints for fisheye camera calibration’. Proc. IEEE OMNIVIS Workshop, 2005.
    20. 20)
      • 20. Micusík, B., Pajdla, T.: ‘Structure from motion with wide circular field of view cameras’, IEEE Trans. Pattern Anal. Mach. Intell., 2006, 28, (7), pp. 1135–1149 (doi: 10.1109/TPAMI.2006.151).
    21. 21)
      • 21. Kannala, J., Brandt, S.S.: ‘A generic camera model and calibration method for conventenal, wide-eye, and fish-eye lenses’, IEEE Trans. Pattern Anal. Mach. Intell., 2006, 28, (8), pp. 1335–1340 (doi: 10.1109/TPAMI.2006.153).
    22. 22)
      • 22. Hughes, C., Denny, P., Glavin, M., Jones, E.: ‘Equidistant fish-eye calibration and rectification by vanishing point extraction’, IEEE Trans. Pattern Anal. Mach. Intell., 2010, 32, (12), pp. 2289–2296 (doi: 10.1109/TPAMI.2010.159).
    23. 23)
      • 23. Liu, J.J., Phillips, C., Daniilidia, K.: ‘Video-based localization without 3D mapping for the visually impaired’. Proc. 2010 IEEE Computer Society Conf. Computer Vision and Pattern Recognition – Workshops, 2010, pp. 23–30.
    24. 24)
      • 24. Hansen, P., Corke, P., Boles, W.: ‘Wide-angle visual feature matching for outdoor localization’, Int. J. Robot. Res., 2010, 29, (2–3), pp. 267–297 (doi: 10.1177/0278364909356484).
    25. 25)
      • 25. Kruger, L., Wohler, C.: ‘Accurate chequerboard corner localisation for camera calibration’, Pattern Recognit. Lett., 2011, 32, (10), pp. 1428–1435 (doi: 10.1016/j.patrec.2011.04.002).
    26. 26)
      • 26. Ryberg, A., Lennartson, B., Christiansson, A.K., Ericsson, M., Asplund, L.: ‘Analysis and evaluation of a general camera model’, Comput. Vis. Image Underst., 2011, 115, (11), pp. 1503–1515 (doi: 10.1016/j.cviu.2011.06.009).
    27. 27)
      • 27. Li, W., Li, Y.F.: ‘Single-camera panoramic stereo imaging system with a fisheye lens and a convex mirror’, Opt. Express, 2011, 19, (7), pp. 5855–5867 (doi: 10.1364/OE.19.005855).
    28. 28)
      • 28. Li, S., Hai, Y.: ‘Easy calibration of a blind-spot-free fisheye camera system using a scene of a parking space’, IEEE Trans. Intell. Transp. Syst., 2011, 12, (1), pp. 232–242 (doi: 10.1109/TITS.2010.2085435).
    29. 29)
      • 29. Zhu, H., Yang, P., Li, S.: Estimating fisheye camera parameters from homography. Science China: Information Science, 2012, 55, (9), pp. 2119–2127.
    30. 30)
      • 30. Goldreich, O.: ‘Computational complexity: a conceptual perspective’ (Cambridge University Press, 2010), available at http://www.en.wikipedia.org/wiki/Time_complexity.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cvi.2013.0013
Loading

Related content

content/journals/10.1049/iet-cvi.2013.0013
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
Print this page
This is a required field
Please enter a valid email address