Calibration Method of the Monocular Omnidirectional Stereo Camera

• URL: http://arxiv.org/abs/2108.07936v1
• Date: Wed, 18 Aug 2021 02:07:58 GMT
• Title: Calibration Method of the Monocular Omnidirectional Stereo Camera
• Authors: Ryota Kawamata, Keiichi Betsui, Kazuyoshi Yamazaki, Rei Sakakibara, Takeshi Shimano
• Abstract summary: We develop an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a lens and sensor. We establish a new calibration method for this camera considering higher-order radial distortion, detailed tangential distortion, an image sensor tilt, and a lens-mirror offset. The random error of the distance measurement is 4.9% and the systematic error is 5.7% up to objects 14 meters apart, which is improved almost nine times compared to the conventional method.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a lens and sensor, which makes this camera compact and cost efficient. We establish a new calibration method for this camera considering higher-order radial distortion, detailed tangential distortion, an image sensor tilt, and a lens-mirror offset. Our method reduces the calibration error by 6.0 and 4.3 times for the upper- and lower-view images, respectively. The random error of the distance measurement is 4.9% and the systematic error is 5.7% up to objects 14 meters apart, which is improved almost nine times compared to the conventional method. The remaining distance errors is due to a degraded optical resolution of the prototype, which we plan to make further improvements as future work.

Related papers

• Camera Calibration using a Collimator System [5.138012450471437]
  This paper introduces a novel camera calibration method using a collimator system. Based on the optical geometry of the collimator system, we prove that the relative motion between the target and camera conforms to the spherical motion model. A closed-form solver for multiple views and a minimal solver for two views are proposed for camera calibration.
  arXiv  Detail & Related papers  (2024-09-30T07:40:41Z)
• SDGE: Stereo Guided Depth Estimation for 360$^\circ$ Camera Sets [65.64958606221069]
  Multi-camera systems are often used in autonomous driving to achieve a 360$circ$ perception. These 360$circ$ camera sets often have limited or low-quality overlap regions, making multi-view stereo methods infeasible for the entire image. We propose the Stereo Guided Depth Estimation (SGDE) method, which enhances depth estimation of the full image by explicitly utilizing multi-view stereo results on the overlap.
  arXiv  Detail & Related papers  (2024-02-19T02:41:37Z)
• W-HMR: Monocular Human Mesh Recovery in World Space with Weak-Supervised Calibration [57.37135310143126]
  Previous methods for 3D motion recovery from monocular images often fall short due to reliance on camera coordinates. We introduce W-HMR, a weak-supervised calibration method that predicts "reasonable" focal lengths based on body distortion information. We also present the OrientCorrect module, which corrects body orientation for plausible reconstructions in world space.
  arXiv  Detail & Related papers  (2023-11-29T09:02:07Z)
• Lasers to Events: Automatic Extrinsic Calibration of Lidars and Event Cameras [67.84498757689776]
  This paper presents the first direct calibration method between event cameras and lidars. It removes dependencies on frame-based camera intermediaries and/or highly-accurate hand measurements.
  arXiv  Detail & Related papers  (2022-07-03T11:05:45Z)
• Calibrated and Partially Calibrated Semi-Generalized Homographies [65.29477277713205]
  We propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers are stable and efficient as demonstrated by a number of synthetic and real-world experiments.
  arXiv  Detail & Related papers  (2021-03-11T08:56:24Z)
• Minimal Solutions for Panoramic Stitching Given Gravity Prior [53.047330182598124]
  We propose new minimal solutions to panoramic image stitching of images taken by cameras with coinciding optical centers. We consider four practical camera configurations, assuming unknown fixed or varying focal length with or without radial distortion. The solvers are tested both on synthetic scenes and on more than 500k real image pairs from the Sun360 dataset and from scenes captured by us using two smartphones equipped with IMUs.
  arXiv  Detail & Related papers  (2020-12-01T13:17:36Z)
• Zero-Shot Calibration of Fisheye Cameras [0.010956300138340428]
  The proposed method estimates camera parameters from the horizontal and vertical field of view information of the camera without any image acquisition. The method is particularly useful for wide-angle or fisheye cameras that have large image distortion.
  arXiv  Detail & Related papers  (2020-11-30T08:10:24Z)
• Infrastructure-based Multi-Camera Calibration using Radial Projections [117.22654577367246]
  Pattern-based calibration techniques can be used to calibrate the intrinsics of the cameras individually. Infrastucture-based calibration techniques are able to estimate the extrinsics using 3D maps pre-built via SLAM or Structure-from-Motion. We propose to fully calibrate a multi-camera system from scratch using an infrastructure-based approach.
  arXiv  Detail & Related papers  (2020-07-30T09:21:04Z)
• Autocamera Calibration for traffic surveillance cameras with wide angle lenses [0.6091702876917281]
  We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place.
  arXiv  Detail & Related papers  (2020-01-20T20:37:02Z)
• Correcting Decalibration of Stereo Cameras in Self-Driving Vehicles [0.0]
  We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. Our method is based on optimization of camera geometry parameters and plugs directly into the output of the stereo matching algorithm. Our simulation confirms that the method can run constantly in parallel to stereo estimation and thus help keep the system calibrated in real time.
  arXiv  Detail & Related papers  (2020-01-15T12:28:01Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.