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Lec12.CameraCalibration - Camera Calibra*on Lecture 12...

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Camera Calibra*on Lecture 12
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Camera Calibra*on In general, the camera model looks like: Calibra*on is the process of finding the parameters [ a 11 a 34 ] If x and X are known, then we can solve for the unknown parameters in A Υ Υ Υ Υ Φ Τ ΢ ΢ ΢ ΢ Σ Ρ Υ Υ Υ Φ Τ ΢ ΢ ΢ Σ Ρ = Υ Υ Υ Φ Τ ΢ ΢ ΢ Σ Ρ 1 34 33 32 31 24 23 22 21 14 13 12 11 Z Y X a a a a a a a a a a a a h y x h h AX x =
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Camera Calibra*on Υ Υ Υ Υ Φ Τ ΢ ΢ ΢ ΢ Σ Ρ Υ Υ Υ Φ Τ ΢ ΢ ΢ Σ Ρ = Υ Υ Υ Φ Τ ΢ ΢ ΢ Σ Ρ 1 34 33 32 31 24 23 22 21 14 13 12 11 Z Y X a a a a a a a a a a a a h y x h h 34 33 32 31 14 13 12 11 a Z a Y a X a a Z a Y a X a h x x h + + + + + + = = 34 33 32 31 24 23 22 21 a Z a Y a X a a Z a Y a X a h y y h + + + + + + = = 0 34 33 32 31 14 13 12 11 = + + + x a Zx a Yx a Xx a a Z a Y a X a 0 34 33 32 31 24 23 22 21 = + + + y a Zy a Yy a Xy a a Z a Y a X a
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Camera Calibra*on These equa*ons have 12 unknowns Each correspondence between a world point and an image point yields two equa*ons If 6 correspondences are known, we can solve for the
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