Techniki kalibracji systemów wielowidokowych

wprowadzenie teoretyczne

Krzysztof WegnerChair of Multimedia Telecommunications and Microelectronics

Poznań University of Technology, Poland

M37232, October 2015, Geneve 1

Wyznaczenie macierzy Fundamentalnej Metoda Zhanga Faktoryzacja macierzy Niezmienniki przeksztacenia

perspektywicznego

2

Zhang’s Algorithm Allows estimation of

intrinsic parameters - matrix extrinsic parameters – rotation matrix and

translation vector Planar template

3Z. Zhang, “A flexible new technique for camera calibration”, IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330–1334, 2000

𝑠 ∙[𝑢𝑣1 ]=𝐴 ∙ [𝑟 1 𝑟2 𝑟 3~𝑡 ] ∙ [ 𝑋𝑌𝑍1 ]

Zhang’s algorithm Planar template

4Z. Zhang, “A flexible new technique for camera calibration”, IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330–1334, 2000

𝑠 ∙[𝑢𝑣1 ]=𝑨 ∙ [𝒓 𝟏 𝒓𝟐 𝒓𝟑~𝒕 ]∙ [𝑋𝑌𝑍1 ]=𝑨 ∙ [𝒓𝟏 𝒓𝟐 𝒓 𝟑

~𝒕 ] ∙[ 𝑋𝑌01 ]=𝑨 ∙ (𝒓 𝟏 ∙ 𝑋+𝒓𝟐 ∙𝑌+𝒓𝟑 ∙0+~𝒕 ∙1)=𝑨 ∙(𝒓𝟏 ∙ 𝑋+𝒓𝟐 ∙𝑌 +~𝒕 ∙1 )=𝑨 ∙ [𝒓𝟏 𝒓𝟐

~𝒕 ] ∙[𝑋𝑌1 ]𝑠 ∙[𝑢𝑣1 ]=𝑨 ∙ [𝒓 𝟏 𝒓𝟐

~𝒕 ] ∙[ 𝑋𝑌1 ]𝑠 ∙[𝑢𝑣1 ]=𝑯 ∙ [𝑋𝑌1 ]𝑯=𝑨 ∙ [𝒓𝟏 𝒓𝟐

~𝒕 ]

Metoda Zhanga

𝑧 ∙[𝑢𝑣1 ]=𝐴 ∙ [𝑟 1 𝑟2 𝑟 3 𝑡 ] ∙ [𝑋𝑌𝑍1 ]5

Z. Zhang, “A flexible new technique for camera calibration”, IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(11):1330–1334, 2000

View synthesis process VSRS 4.0 Synthesis of

two versions of virtual view

View blending modes Blend

together No to blend

M37232, October 2015, Geneve 6