Infrared and Laser Engineering, Volume. 52, Issue 8, 20230425(2023)
Research on pose calibration method for omnidirectional camera and rotation axis
Figures & Tables(18)
Fig. 2. Camera and axis calibration. (a) ChArUco calibration plate; (b) Schematic diagram of calibration system
Fig. 4. Trajectory fitting of optical center. (a) Plane fitting of optical center; (b) Spherical fitting of optical center
Fig. 6. Camera-axis reprojection model. (a) Original model; (b) After-rotation model; (c) Equivalent model
Fig. 8. Fitting and processing. (a) Plane fitting; (b) Spherical fitting; (c) Establish axis coordinate system
Fig. 10. The stitching results of single images and panoramic images
Fig. 11. The distribution of optical center points under three experimental conditions
Fig. 12. Error distribution of reprojection under three groups of experimental conditions
Fig. 13. Projection error histogram. (a)
Table 1. Camera internal parameters and offset
View tableView in ArticleTable 1. Camera internal parameters and offset
Focal distance/pixel Principal point/pixel $ \xi $ $ {f}_{x} $ $ {f}_{y} $ $ {c}_{x} $ $ {c}_{y} $ 4344.8 4347.8 2025.9 1467.0 0.9521
Table 2. Reprojection error and distortion coefficient of camera
View tableView in ArticleTable 2. Reprojection error and distortion coefficient of camera
Projection error/pixel ${k}_{_1}$ ${k}_{_2}$ ${p}_{_1}$ ${p}_{_2}$ Mean-RE Max-RE 0.1276 0.2422 −0.5539 0.2754 −0.00046 −0.00103
Table 3. Two methods to calculate posture results
View tableView in ArticleTable 3. Two methods to calculate posture results
Method Rotation matrix R Translation vector T ICP $\left[\begin{array}{ccc}0.285\;8 & 0.306\;0& 0.908\;1\\ -0.717\;7& 0.696\;3& -0.008\;8\\ -0.635\;0& -0.649\;2& 0.418\;6\end{array}\right]$ $ \left[\begin{array}{c}144.062\\ 251.727\\ 281.533\end{array}\right] $ Optimization of Ceres library $\left[\begin{array}{ccc}0.338\;2& 0.247\;7& 0.907\;8\\ -0.575\;8& 0.817\;6& -0.008\;5\\ -0.744\;4& -0.519\;9& 0.419\;1\end{array}\right]$ $ \left[\begin{array}{c}143.765\\ 252.508\\ 282.094\end{array}\right] $
Table 4. Rotation vector and translation vector
View tableView in ArticleTable 4. Rotation vector and translation vector
Correspondence Rotation vector ${\boldsymbol{\varPhi }} $ Translation vector $ {{\boldsymbol{t}}} $ Camera-world ${\left[0.543, -2.734, -1.315\right]}^{{\rm{T}}}$ ${\left[290.792, -306.674, -69.305\right]}^{{\rm{T}}}$ Axis-world ${\left[-0.341, 1.103, -0.550\right]}^{{\rm{T}}}$ ${\left[143.765, 252.508, 282.094\right]}^{{\rm{T}}}$ Camera-axis ${\left[-\mathrm{1.477,1.475}, 1.014\right]}^{{\rm{T}}}$ ${\left[-3.025\times {10}^{-5},73.445, -0.0017\right]}^{{\rm{T}}}$
Table 5. Pose under three groups of experimental conditions
View tableView in ArticleTable 5. Pose under three groups of experimental conditions
Condition Rotation vector $ {\boldsymbol{\varPhi }} $ Translation vector $ {{\boldsymbol{t}}} $ Primary data ${\left[-1.475, 1.474, 1.015\right]}^{{\rm{T}}}$ ${\left[0.027, 73.299, -0.002\right]}^{{\rm{T}}}$ Change distance ${\left[-1.473, 1.485, 1.004\right]}^{{\rm{T}}}$ ${\left[-0.001, 73.408, -0.003\right]}^{{\rm{T}}}$ Change radius ${\left[-\mathrm{1.472,1.479}, 1.006\right]}^{{\rm{T}}}$ ${\left[-1.831\times {10}^{-4}, 73.315, -0.002\right]}^{{\rm{T}}}$
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Yusen Gao, Nan Gao, Yubo Ni, Zhaozong Meng, Jinfeng Shao, Zonghua Zhang. Research on pose calibration method for omnidirectional camera and rotation axis[J]. Infrared and Laser Engineering, 2023, 52(8): 20230425
Paper Information
Category: Photoelectric measurement
Received: Jun. 12, 2023
Accepted: Jul. 18, 2023
Published Online: Oct. 19, 2023
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