Abstract

Inaccuracies in the calibration of a stereoscopic system appear with errors in point correspondences between both images and inexact points localization in each image. Errors increase if the stereoscopic system is composed of wide angle lens cameras. We propose a technique where detected points in both images are corrected before estimating the fundamental matrix and the lens distortion models. Since points are corrected first, errors in point correspondences and point localization are avoided. To correct point location in both images, geometrical and epipolar constraints are imposed in a nonlinear minimization problem. Geometrical constraints define the point localization in relation to its neighbors in the same image, and eipolar constraints represent the location of one point referred to its corresponding point in the other image.

© 2011 Optical Society of America

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References

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  1. Z. Zhang, H. Ma, T. Guo, S. Zhang, and J. Chen, Opt. Lett. 36, 1257 (2011).
    [CrossRef] [PubMed]
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    [CrossRef]
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    [CrossRef] [PubMed]
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  5. X. Armangué and J. Salvi, Image and Vision Comput. 21, 25 (2003).
    [CrossRef]
  6. Z. Zhang, International Journal of Computer Vision 27-2(1998).
  7. F. Devernay and O. Faugeras, Machine Vis. Apps. 13, 14(2001).
    [CrossRef]
  8. Z. Zhang, International Conference on Pattern Recognition (1996).
  9. Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).
  10. R. Harley, Proceedings of the Eighth International Conference on Computer Vision (1995).

2011

2010

2005

D. Claus and A. Fitzgibbon, Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (2005).

2003

X. Armangué and J. Salvi, Image and Vision Comput. 21, 25 (2003).
[CrossRef]

2001

F. Devernay and O. Faugeras, Machine Vis. Apps. 13, 14(2001).
[CrossRef]

1998

Z. Zhang, International Journal of Computer Vision 27-2(1998).

1996

Z. Zhang, International Conference on Pattern Recognition (1996).

1995

R. Harley, Proceedings of the Eighth International Conference on Computer Vision (1995).

1994

Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).

1981

H. C. Longuet-Higgins, Nature 293, 133 (1981).
[CrossRef]

Armangué, X.

X. Armangué and J. Salvi, Image and Vision Comput. 21, 25 (2003).
[CrossRef]

Chen, J.

Claus, D.

D. Claus and A. Fitzgibbon, Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (2005).

Deriche, R.

Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).

Devernay, F.

F. Devernay and O. Faugeras, Machine Vis. Apps. 13, 14(2001).
[CrossRef]

Faugeras, O.

F. Devernay and O. Faugeras, Machine Vis. Apps. 13, 14(2001).
[CrossRef]

Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).

Fitzgibbon, A.

D. Claus and A. Fitzgibbon, Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (2005).

Guo, T.

Harley, R.

R. Harley, Proceedings of the Eighth International Conference on Computer Vision (1995).

Longuet-Higgins, H. C.

H. C. Longuet-Higgins, Nature 293, 133 (1981).
[CrossRef]

Luong, Q. T.

Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).

Ma, H.

Ricolfe-Viala, C.

Salvi, J.

X. Armangué and J. Salvi, Image and Vision Comput. 21, 25 (2003).
[CrossRef]

Sanchez-Salmeron, A.

Zhang, S.

Zhang, Z.

Z. Zhang, H. Ma, T. Guo, S. Zhang, and J. Chen, Opt. Lett. 36, 1257 (2011).
[CrossRef] [PubMed]

Z. Zhang, International Journal of Computer Vision 27-2(1998).

Z. Zhang, International Conference on Pattern Recognition (1996).

Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).

Appl. Opt.

Image and Vision Comput.

X. Armangué and J. Salvi, Image and Vision Comput. 21, 25 (2003).
[CrossRef]

Machine Vis. Apps.

F. Devernay and O. Faugeras, Machine Vis. Apps. 13, 14(2001).
[CrossRef]

Nature

H. C. Longuet-Higgins, Nature 293, 133 (1981).
[CrossRef]

Opt. Lett.

Other

D. Claus and A. Fitzgibbon, Proceedings of the IEEE International Conference on Computer Vision and Pattern Recognition (2005).

Z. Zhang, International Journal of Computer Vision 27-2(1998).

Z. Zhang, International Conference on Pattern Recognition (1996).

Z. Zhang, R. Deriche, O. Faugeras, and Q. T. Luong, Institut National de Recherche en Informatique et Automatique(1994).

R. Harley, Proceedings of the Eighth International Conference on Computer Vision (1995).

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Figures (3)

Fig. 1.
Fig. 1.

Geometric constraints that represent the image formation of a set of parallel and perpendicular straight lines.

Fig. 2.
Fig. 2.

Epipolar constraints that connect the location of one point in the scene with its location in two images.

Fig. 3.
Fig. 3.

Images from a wide angle stereoscopic system build up with two IP cameras AXIS M3204. Blue dots are detected points in captured distorted images. Red dots represent blue dots corrected with the proposed method. Gray dots are detected points of the image corrected with method 1.

Tables (1)

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Table 1 Experimental Results with Simulated and Real Data

Equations (1)

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J = J ST + J CR + J VP + J HL + J EL + J EP + J IL

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