1. Active Calibration of Cameras: Theory and Implementation Anup Basu Sung Huh CPSC 643 Individual Presentation II March 4 th, 2009 1

2. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 2

3. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 3

4. Introduction Important step for a 2D image to relates to the 3D world Involves relating the optical features of a lens to the sensing device ◦ Pose estimation, 3D motion estimation, automated assembly Parameters: image center and focal length ◦ Expressed in terms of image pixels Linear vs. Nonlinear, Lens distortion consideration vs. w/o consideration 4

5. Technique: Linearity LinearNonlinear Simpler to implement Most cannot model camera distortions Capable to consider complicated imaging model with many parameters Computationally expensive search procedure Reasonable good initial guess for convergence of the solutions 5

6. Major Drawback of existing algorithm Calibrate with predefined pattern ◦ Relating image projections to the camera parameters Recent algorithms suffer from the same limitation New discovery: Active Calibration 6

7. Active Calibration Camera capable of panning and tilitng can automatically calibrate itself ◦ Modeled from eye movement Active machines can keep track of object of interest Facilitate region-of-interest process 7

8. Active Calibration – How different? Does not need a starting estimate for focal length and image center Does not need prior information about focal length Does not need to match points or feature b/w images Reasonably accurate localization of contour Estimate of center (Not too far from true value) 8

9. Method of Calibration Using perspective distortion to measure calibration parameters Without using perspective distortion 9

10. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 10

11. Theoretical Derivation 11

12. Theoretical Derivation Lemma 1 Camera rotates by R and translate by T New image contours 12

13. Theoretical Derivation Lemma 1 - Proof Use two set of equation, 13

14. Theoretical Derivation Proposition 1 Depth ( Z ) is larger than ΔX, ΔY, ΔZ Camera moves by small tilt angle 14

15. Theoretical Derivation Proposition 1 – Proof Rotation matrix R at small tilt angle are negligible From Lemma 1 15

16. Theoretical Derivation Proposition 1 – Proof Expand right side of equation with Taylor series, because of small θ t With the same assumption, if camera moves by small pan angle θ p 16

17. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 17

18. Strategy for Active Calibration Want – A relation b/w lens parameters and image information w/ given image contours before & after camera motion Relate focal length to other camera parameters and the pan/tilt angles 18

19. Strategy for Active Calibration Proposition 2 Similar assumption as Proposition 1 Center of the lens is estimated with a small error ( δ x, δ y ) 19

20. Strategy for Active Calibration Proposition 2 – Proof From Proposition 1 Estimate image Center with error ( δ x, δ y ) Ignore δ x δ y term 20

21. Strategy for Active Calibration Proposition 3 (Plan A) Using tilt (or pan) movement and considering three independent static contours, two linear equation in δ x δ y can be obtained if negligible terms are ignored 21

22. Strategy for Active Calibration Proposition 3 – Proof Two different contour, C 1 and C 2 Point lying on C 1 & C 2, ( x (1),y (1) ) and ( x (2),y (2) ) From Proposition 2 22

23. Strategy for Active Calibration Proposition 3 – Proof Equate right side equations and simplify where 23

24. Strategy for Active Calibration Proposition 3 – Proof Third contour, C 3 Point on C 3, ( x (3),y (3) ) where 24

25. Strategy for Active Calibration Proposition 3 – Proof Finding f x and f y with estimated center “e” denote the estimate of a certain parameter 25

26. Strategy for Active Calibration Procedure Summary for Plan A Estimate δ x and δ y using (3) and (4) with three distinct image contour Obtain estimate for f x and f y by substituting resulting estimate into (5) and (6) Term and make (5) and (6) unstable 26

27. Strategy for Active Calibration Procedure Summary for Plan A Variation in x-coord. for any point is due to change in perspective distortion (tilt) Little change in the image y-coord. corresponding to a given 3-d point (pan) and are small (few pixel) Relative error can be large ◦ presence of noise and inaccuracies in localization of a contour Estimate in (5) & (6) are often unreliable 27

28. Strategy for Active Calibration Proposition 4 (Plan B) Using a single contour and pan/tilt camera movements f x and f y can be obtained if negligible terms are ignored 28

29. Strategy for Active Calibration Proposition 4 – Proof δ x and δ y are non-zero in the second equation in Proposition 1 Simplify The last three terms are negligible even if δ x and δ y are large 29

30. Strategy for Active Calibration Proposition 4 – Proof Simplifying eq (7) f x can be obtained with similar way 30

31. Strategy for Active Calibration Proposition 4 – Corollary Given two independent contours, pan/tilt camera movements, and estimate of f x and f y given by and respectively, δ x and δ y can be obtained by solving Considering from two independent contour from Proposition 2 31

32. Strategy for Active Calibration Proposition 4 – Proof Consider (8) Most practical system ◦ y 500 (8) is in form A = 1, B < 0, C is small compare to B 32

33. Strategy for Active Calibration Procedure Summary for Plan B Estimate f x and f y from (12) and (13) using a single image contour Solve for δ x and δ y by substituting resulting estimates into (10) and (11) and using another independent contour 33

34. Strategy for Active Calibration Proposition 5 When there is error in contour localization after pan/tilt movements, the ratio of the error in Plan A compared to Plan B for estimating f x (f y ) is approximately 34

35. Strategy for Active Calibration Proposition 5 – Proof 1. Introduce similar error term in and in (13) and (5) respectively 2. Simplify the expressions and consider the approximate magnitude of error in both the expressions 3. Take the ratio of these two terms 35

36. Strategy for Active Calibration Proposition 5 – Implication Error in Plan A can be as large as 30 times that of Plan B, for estimating focal lengths Plan A is theoretically more precise, but not reliable for noisy real scenes 36

37. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 37

38. Theoretical Error Analysis Effect of errors from various sources on the estimation of different parameters ◦ Errors in measurements of pan/tilt angles ◦ Effect of noise in the extraction of image contours 38

39. Theoretical Error Analysis Remark 1 Error in measurement of the pan (tilt) angle generates a proportional error in the estimate of f x ( f y ) Proof Consider(5) f x is proportional to the pan angle ◦ Any error in the measurement translates to a corresponding error in f x Any error from tilt angle generate a proportional error in f y 39

40. Theoretical Error Analysis Remark 2 Errors in measurement of the pan & tilt angles do not affect the estimate of the lens center ◦ independent contours from the same image are considered Proof Linear equations in δ x and δ y are obtained by equating the right hand sides of two equations 40

41. Theoretical Error Analysis Consider (1) & (2) Denote ε 1 : error in tilt angle Contour extracted from same image Then ( θ t +ε 1 ) of (3) cancels out from both sides ◦ Error in pan/tilt angle do not affect the estimate of lens center 41

42. Theoretical Error Analysis Consider two independent images generating the contours in (1) & (2) K 1 in (3) modifies to is not equal to 1 in general Errors in angle can change the estimate of the lens center if contours from independent images are considered 42

43. Theoretical Error Analysis Remark 3 The coefficients of the linear (3)-(6) are unbiased in the presence of uncorrelated noise with zero mean Coefficients involve a linear combination of terms These terms are unbiased in the presence of uncorrelated noise with zero mean 43

44. Theoretical Error Analysis Remark 4 The variance of the coefficients of (3)-(6) is inversely proportional to the number of points on a contour ◦ Uncorrelated noise with zero mean is considered Form of variances Inversely proportional to the number of points for which the averages were computed 44

45. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 45

46. Experimental Result Simulation – Validity of Algorithms Synthetic data used Three independent contour represented by three sets of 3D points Points projected onto the image plane Values quantized to the nearest integer Without noise, A produced more accurate estimate ◦ Less than 1 percent relative error in focal length estimate 46

47. Experimental Result Simulation – Variation of error in focal length estimate Change f x and f y from 100 to 1000 with interval 100 ◦ Keep other parameters fixed Discretization error influence A more when focal length was small ◦ A is not very robust to noise Larger the focal length, smaller the error relative to the focal length ◦ Better estimate production with A 47

48. Experimental Result Simulation – Variation of error in focal length estimate Error estimate from B does not drop off rapidly B is theoretically less accurate than A 48

49. Experimental Result Simulation – Gaussian Noise Added Poor performance with A ◦ 20, 28, and 40 percent error with 3, 4, and 5 noise standard deviation High robustness with B 49

50. Experimental Result Tracking Contour Match contours of interest during pan/tilt ◦ For automatic calibration Edges in the original image was thickened using the morphological operation of “dilation” Edges after pan/tilt was AND-ed with the dilated image to extract corresponding contours after camera rotation 50

51. A sequence of images for small pan movements of a camera 51

52. Corresponding edge images 52

53. Tracked over the sequence of image 53

54. Experimental Result Calibration With Real Images – initial image and its edge 54

55. Experimental Result Calibration With Real Images – panned image and its edge 55

56. Experimental Result Calibration With Real Images – matching contour 56

57. Experimental Result Calibration With Real Images Plan A Estimate of f x and f y, 693 and 981 With known pattern and refining initial estimate by trial and error, 890 and 1109 Plan B Estimate of f x and f y, 917 and 1142 Produces estimates fairly close to the true value 57

58. Experimental Result Other Environment 58

59. Experimental Result Other Environment Estimate produced using Plan B, 902 and 1123, 905 and 1099 Average relative error < 1.5% A produced very inaccurate estimate B produced stable estimates Lens center estimates are not very accurate for both 59

60. Outline Introduction Theoretical Derivation Strategies for Active Calibration Theoretical Error Analysis Experimental Result Conclusion and Future Work 60

61. Conclusion Algorithm do not require unique pattern ◦ Only need scenes with strong and stable edge A gives almost perfect estimates in an ideal environment B is suitable for noisy synthetic images or real scenes 61

62. Future Work Simplify algorithm further by considering roll movements of the camera Designing a simple method to obtain the optical center of the lens 62

63. Question ? 63