TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive
SubPixel Refinement of AprilTags
- URL: http://arxiv.org/abs/2210.02511v1
- Date: Wed, 5 Oct 2022 18:57:07 GMT
- Title: TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive
SubPixel Refinement of AprilTags
- Authors: Bardienus P Duisterhof, Yaoyu Hu, Si Heng Teng, Michael Kaess,
Sebastian Scherer
- Abstract summary: Calibrating wide-angle lenses with current state-of-the-art techniques yields poor results due to extreme distortion at the edge.
We present our methodology for accurate wide-angle calibration.
- Score: 23.568127229446965
- License: http://creativecommons.org/licenses/by-nc-sa/4.0/
- Abstract: Wide-angle cameras are uniquely positioned for mobile robots, by virtue of
the rich information they provide in a small, light, and cost-effective form
factor. An accurate calibration of the intrinsics and extrinsics is a critical
pre-requisite for using the edge of a wide-angle lens for depth perception and
odometry. Calibrating wide-angle lenses with current state-of-the-art
techniques yields poor results due to extreme distortion at the edge, as most
algorithms assume a lens with low to medium distortion closer to a pinhole
projection. In this work we present our methodology for accurate wide-angle
calibration. Our pipeline generates an intermediate model, and leverages it to
iteratively improve feature detection and eventually the camera parameters. We
test three key methods to utilize intermediate camera models: (1) undistorting
the image into virtual pinhole cameras, (2) reprojecting the target into the
image frame, and (3) adaptive subpixel refinement. Combining adaptive subpixel
refinement and feature reprojection significantly improves reprojection errors
by up to 26.59 %, helps us detect up to 42.01 % more features, and improves
performance in the downstream task of dense depth mapping. Finally, TartanCalib
is open-source and implemented into an easy-to-use calibration toolbox. We also
provide a translation layer with other state-of-the-art works, which allows for
regressing generic models with thousands of parameters or using a more robust
solver. To this end, TartanCalib is the tool of choice for wide-angle
calibration. Project website and code: http://tartancalib.com.
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