Camera Calibration Reading:

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Presentation transcript:

Camera Calibration Reading: [FP] Chapter 1 “Geometric Camera Calibration” [HZ] Chapter 7 “Computation of Camera Matrix P” Some slides in this lecture are courtesy to Prof. Silvio Savarese, J. Ponce, F- Li

Agenda Camera calibration problem Example

Agenda Camera calibration problem Example

Recap: The projective transformation

Estimate camera parameters such pose or focal length from images! Why is this important? Estimate camera parameters such pose or focal length from images! ?

Goal of calibration

Calibration Problem

Calibration Problem

Calibration Problem

Calibration Problem

Calibration Problem

Calibration Problem

Homogeneous M x N Linear Systems

Extracting camera parameters

Extracting camera parameters

Extracting camera parameters

Degenerate cases

Radial Distortion Image magnification (in)decreases with distance from the optical axis Caused by imperfect lenses Deviations are most noticeable for rays that pass through the edge of the lens No distortion Pin cushion Barrel

General Calibration Problem

General Calibration Problem

General Calibration Problem

Agenda Camera calibration problem Example

Calibration Procedure Camera Calibration Toolbox for Matlab J. Bouguet – [1998-2000] http://www.vision.caltech.edu/bouguetj/calib_doc/index.html#examples

Calibration Procedure

Calibration Procedure

Calibration Procedure

Calibration Procedure

Calibration Procedure

Calibration Procedure

Calibration Procedure