Calibration Method with Implicit Constraints for Multi-View Combined Camera Using Automatic Coding of Marker Points

Hongxia Cui; Lijun Chen; Ning Wang; Tingting Li

doi:10.3788/CJL202047.0110003

Chinese Journal of Lasers, Volume. 47, Issue 1, 0110003(2020)

Calibration Method with Implicit Constraints for Multi-View Combined Camera Using Automatic Coding of Marker Points

Hongxia Cui^1,2、*, Lijun Chen², Ning Wang^2、**, and Tingting Li²

Author Affiliations

¹College of Information Engineering, Zhejiang A&F University, Lin'an, Zhejiang 311300, China;

²College of Information Science and Technology, Bohai University, Jinzhou, Liaoning 121013, China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(9)

Fig. 1. Target calibration field and self-coding marker

Download full size

Fig. 2. Automatic coding of marker. (a) Automatic coding of internal code for self-coding marker; (b) automatic coding of external code in target calibration field

Download full size

Fig. 3. Geometrical structure of combined camera

Download full size

Fig. 4. Automatic coding of markers

Download full size

Fig. 5. Relative orientation elements among cameras. (a) Relative position elements for cameras 1 and 2; (b) relative position elements for cameras 2 and 3; (c) relative position elements for cameras 3 and 4; (d) relative linear elements for cameras 4 and 5; (e) relative angular elements for cameras 1 and 2; (f) relative angular elements for cameras 2 and 3; (g) relative angular elements for cameras 3 and 4; (h) relative angular elements for cameras 4 and 5

Download full size

Table 1. Internal and external codes for coding markers
View table
Table 1. Internal and external codes for coding markers
Internal code External code
000000 0001
000001 0004
… …
… …
111111 4020

Table 2. Calculation of rotation angle α
View table
Table 2. Calculation of rotation angle α
x_D₁ y_D₁ α /(°)
x_D₁=x₀ y_D₁₀ 90
y_D₁>y₀ 270
y_D₁₀ -arctan(y_D₁-y₀) $\begin{matrix} (x_{D 1} - x_{0})^{- 1} \end{matrix}$
x_D₁>x₀ y_D₁>y₀ 360-arctan(y_D₁-y₀) $\begin{matrix} (x_{D 1} - x_{0})^{- 1} \end{matrix}$
y_D₁=y₀ 0
y_D₁₀ 180+arctan(y_D₁-y₀) $\begin{matrix} (x_{D 1} - x_{0})^{- 1} \end{matrix}$
x_D₁₀ y_D₁>y₀ 180+arctan(y_D₁-y₀) $\begin{matrix} (x_{D 1} - x_{0})^{- 1} \end{matrix}$
y_D₁=y₀ 180

Table 3. Root-mean-square error of checking points by method A

View table

Table 3. Root-mean-square error of checking points by method A

Camera number	RMS x /μm	RMS y /μm	RMS xy /μm	RMS X /mm	RMS Y /mm	RMS Z /mm
1	0.248	0.071	0.258	0.649	0.379	2.356
2	0.374	0.438	0.576	0.461	0.126	1.093
3	0.099	0.103	0.143	0.904	0.481	2.159
4	0.329	0.568	0.656	1.357	0.147	2.173
5	0.334	0.166	0.373	0.322	0.496	1.392

Table 4. Root-mean-square error of checking points by method B

View table

Table 4. Root-mean-square error of checking points by method B

Camera number	RMS x /μm	RMS y /μm	RMS xy /μm	RMS X /mm	RMS Y /mm	RMS Z /mm
1	0.278	0.176	0.329	0.729	0.241	2.116
2	0.202	0.442	0.486	1.141	0.599	1.522
3	0.162	0.154	0.224	0.949	0.116	1.858
4	0.438	0.336	0.552	1.011	0.706	2.102
5	0.360	0.402	0.540	0.927	0.068	1.612

Tools

Get Citation

Copy Citation Text

Hongxia Cui, Lijun Chen, Ning Wang, Tingting Li. Calibration Method with Implicit Constraints for Multi-View Combined Camera Using Automatic Coding of Marker Points[J]. Chinese Journal of Lasers, 2020, 47(1): 0110003

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites