用单张球面镜图像实现精准相机标定与立体视觉
Camera Calibration and Stereo via a Single Image of a Spherical Mirror
- 通过球面轮廓和反射影像的几何特性进行标定
- 实测数据验证了标定精度与系统可行性
- 适合需要简化设备的移动机器人、自动驾驶场景
本文提出一种基于单张包含球面镜图像的相机标定新方法。利用球体轮廓在图像中的独特特征及其反射信息，实现了高精度标定。镜面反射还提供了超出图像边界以外的环境信息，为构建简易的猫眼立体系统铺平道路。研究深入探讨了球面镜在猫眼立体中的几何关系与校准流程，通过合成数据和真实场景实验，验证了该方法的有效性与准确性。
原文摘要 · Abstract (English)
This paper presents a novel technique for camera calibration using a single view that incorporates a spherical mirror. Leveraging the distinct characteristics of the sphere's contour visible in the image and its reflections, we showcase the effectiveness of our method in achieving precise calibration. Furthermore, the reflection from the mirrored surface provides additional information about the surrounding scene beyond the image frame. Our method paves the way for the development of simple catadioptric stereo systems. We explore the challenges and opportunities associated with employing a single mirrored sphere, highlighting the potential applications of this setup in practical scenarios. The paper delves into the intricacies of the geometry and calibration procedures involved in catadioptric stereo utilizing a spherical mirror. Experimental results, encompassing both synthetic and real-world data, are presented to illustrate the feasibility and accuracy of our approach.
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