Techniki kalibracji systemów wielowidokowych wprowadzenie teoretyczne

1. Techniki kalibracji systemów
wielowidokowych
wprowadzenie teoretyczne
Krzysztof Wegner
Chair of Multimedia Telecommunications and Microelectronics
Poznań University of Technology, Poland
M37232, October 2015, Geneve 1

2.  Wyznaczenie macierzy Fundamentalnej
 Metoda Zhanga
 Faktoryzacja macierzy
 Niezmienniki przeksztacenia
perspektywicznego
2

3. Zhang’s Algorithm
 Allows estimation of
 intrinsic parameters - 𝑨 matrix
 extrinsic parameters – rotation matrix 𝑹 and
translation vector 𝒕 = −𝑹 ∙ 𝒕
 Planar template
 𝑍 = 0
3
Z. Zhang, “A flexible new technique for camera calibration”, IEEE Transactions on Pattern Analysis and
Machine Intelligence, 22(11):1330–1334, 2000
𝑠 ∙
𝑢
𝑣
1
= 𝐴 ∙ 𝑟1 𝑟2 𝑟3 𝑡 ∙
𝑋
𝑌
𝑍
1

4. Zhang’s algorithm
 Planar template
 𝑍 = 0
4
Z. Zhang, “A flexible new technique for camera calibration”, IEEE Transactions on Pattern Analysis and
Machine Intelligence, 22(11):1330–1334, 2000
𝑠 ∙
𝑢
𝑣
1
= 𝑨 ∙ 𝒓 𝟏 𝒓 𝟐 𝒓 𝟑 𝒕 ∙
𝑋
𝑌
𝑍
1
= 𝑨 ∙ 𝒓 𝟏 𝒓 𝟐 𝒓 𝟑 𝒕 ∙
𝑋
𝑌
0
1
= 𝑨 ∙ 𝒓 𝟏 ∙ 𝑋 + 𝒓 𝟐 ∙ 𝑌 + 𝒓 𝟑 ∙ 0 + 𝒕 ∙ 1 = 𝑨 ∙ 𝒓 𝟏 ∙ 𝑋 + 𝒓 𝟐 ∙ 𝑌 + 𝒕 ∙ 1
= 𝑨 ∙ 𝒓 𝟏 𝒓 𝟐 𝒕 ∙
𝑋
𝑌
1
𝑠 ∙
𝑢
𝑣
1
= 𝑨 ∙ 𝒓 𝟏 𝒓 𝟐 𝒕 ∙
𝑋
𝑌
1
𝑠 ∙
𝑢
𝑣
1
= 𝑯 ∙
𝑋
𝑌
1
𝑯 = 𝑨 ∙ 𝒓 𝟏 𝒓 𝟐 𝒕

5. Metoda Zhanga
𝑧 ∙
𝑢
𝑣
1
= 𝐴 ∙ 𝑟1 𝑟2 𝑟3 𝑡 ∙
𝑋
𝑌
𝑍
1
5
Z. Zhang, “A flexible new technique for camera calibration”, IEEE Transactions on Pattern Analysis and
Machine Intelligence, 22(11):1330–1334, 2000

6. View synthesis process
 VSRS 4.0
 Synthesis of
two versions of
virtual view
 View blending
modes
 Blend together
 No to blend
M37232, October 2015, Geneve 6