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Depth Perception

Camera calibration allows us to determine a camera's intrinsic and distortion parameters from images of a calibration object like a chessboard. The pinhole camera model relates points in 3D space to their 2D projections using matrices and vectors. Radial and tangential lens distortions are modeled. Camera calibration provides rotation and translation transformations to map 3D coordinates to the camera's frame of reference.

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Neha Verma
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50 views18 pages

Depth Perception

Camera calibration allows us to determine a camera's intrinsic and distortion parameters from images of a calibration object like a chessboard. The pinhole camera model relates points in 3D space to their 2D projections using matrices and vectors. Radial and tangential lens distortions are modeled. Camera calibration provides rotation and translation transformations to map 3D coordinates to the camera's frame of reference.

Uploaded by

Neha Verma
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Submitted byJyotsana ECE(M.

TECH) 12ECP007

The pinhole camera model

The pinhole camera model


we can see by similar triangles that x/f = X/Z, or

Lens Distortions
Radial distortions arise as a result of the shape of lens, whereas Tangential distortions arise from the assembly process of the camera as a whole. This distortion is due to manufacturing defects resulting from the lens not being exactly parallel to the imaging plane

Camera Calibration
Camera calibration gives us both a model of the cameras geometry and a distortion model of the lens. These two informational models define the intrinsic parameters of the camera. Here well learn how to describe the intrinsic and distortion properties of a camera.

Rotation Matrix and Translation Vector

A rotation is equivalent to introducing a new description of a points location in a different coordinate system. Rotating the coordinate system by an angle is equivalent to counter rotating our target point around the origin of that coordinate system by the same angle .

The representation of a two-dimensional rotation as matrix multiplication is shown already in the figure. If we rotate around the x-, y-, and z-axes in sequence with respective rotation angles , , and , the result is a total rotation matrix R that is given by the product of the three matrices Rx(), Ry(), and Rz(), where

To shift from a coordinate system centered on an object to one centered at the camera, the appropriate translation vector is simply T = originobject origincamera.

Chessboards
The calibration object used in OpenCV is a flat grid of alternating black and white squares that is usually called a chessboard In principle, any appropriately characterized object could be used as a calibration object, yet the practical choice is a regular pattern such as a chessboard or a box covered with markers.

References
Book Learning OpenCV by Gary Bradski and Adrian Kaehler Paper of Stereoscopic vision for depth perception by Luis Copertari published in august 2007,volume 3 Paper of Depth Estimation using Monocular and Stereo Cues by Ashutosh Saxena, Jamie Schulte and Andrew Y. Ng.

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