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June 10, 2013 Presented by Joshua Vallecillos Supervised By Christine Wittich, Ph.D. Student, Structural Engineering
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Precise calibrations are needed in many computer vision applications Use of the Jacobian matrix was implemented Objective: Undistort GOPro Videos specific for shake table experiments
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Motion Tracking 3D Reconstruction Mimic Seismic effects on statues
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Different Types of Distortions ◦ Skew -non squareness of Pixels ◦ Barrel Distortion – Spherical View ◦ Pincushion Effect- Bow inwards Grid Shows Barrel Distortion
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Use of a 30mm checker patterned grid with a 5x7 dimension. Video Recording and Capturing of different angles of grid Camera Specifications: Model: GOPRO Hero3 Black ◦ For GOPR0001: Camera Setting: Wide FOV 1080p (60 frames per second) ◦ For GOPR4561: Camera Setting: Narrow FOV 720p (120 frames per second)
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Steps TakenImages Preliminary Stage Reading Images Extracting Grid Corners Main Calibration Stage Recalibration Calibration Toolbox, Extraction of the Grid Corners Step by Step, World Centered View and Analyse Error
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Processing Images through Matlab Extraction Process ◦ Extensive amount of time ◦ Reiteration of Images
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PR0001 Focal Length: fc = [ 1135.62996 1130.02170 ] ± [ 3.85972 3.83678 ] Principal point: cc = [ 651.91387 349.40056 ] ± [ 5.01779 4.55735 ] Skew: alpha_c = [ 0.00000 ] ± [ 0.00000 ] => angle of pixel axes = 90.00000 ± 0.00000 degrees Distortion: kc = [ -0.34735 0.19807 -0.00027 0.00007 0.00000 ] ± [ 0.01369 0.06904 0.00103 0.00055 0.00000 ] Pixel error: err = [ 0.16702 0.32813 ] PR4561 Focal Length: fc = [ 507.29079 510.01991 ] ± [ 0.90762 0.85639 ] Principal point: cc = [ 416.77343 237.62981 ] ± [ 1.02387 1.21453 ] Skew: alpha_c = [ 0.00000 ] ± [ 0.00000 ] => angle of pixel axes = 90.00000 ± 0.00000 degrees Distortion: kc = [ -0.36303 0.15317 -0.00037 -0.00031 0.00000 ] ± [ 0.00289 0.00571 0.00056 0.00024 0.00000 ] Pixel error: err = [ 0.10966 0.12640 ] Note: The numerical errors are approximately three times the standard deviations (for reference).
![PR0001 Focal Length: fc = [ ] ± [ ] Principal point: cc = [ ] ± [ ] Skew: alpha_c = [ ] ± [ ] => angle of pixel axes = ± degrees Distortion: kc = [ ] ± [ ] Pixel error: err = [ ] PR4561 Focal Length: fc = [ ] ± [ ] Principal point: cc = [ ] ± [ ] Skew: alpha_c = [ ] ± [ ] => angle of pixel axes = ± degrees Distortion: kc = [ ] ± [ ] Pixel error: err = [ ] Note: The numerical errors are approximately three times the standard deviations (for reference).](http://images.slideplayer.com./27/9008252/slides/slide_8.jpg "PR0001 Focal Length: fc = [ ] ± [ ] Principal point: cc = [ ] ± [ ] Skew: alpha_c = [ ] ± [ ] => angle of pixel axes = ± degrees Distortion: kc = [ ] ± [ ] Pixel error: err = [ ] PR4561 Focal Length: fc = [ ] ± [ ] Principal point: cc = [ ] ± [ ] Skew: alpha_c = [ ] ± [ ] => angle of pixel axes = ± degrees Distortion: kc = [ ] ± [ ] Pixel error: err = [ ] Note: The numerical errors are approximately three times the standard deviations (for reference).")
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Success! Hands on Experience Motion Tracking Before and after undistortion
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