• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.7
• /
• pp.602-608
• /
• 2015

This paper proposes an algorithm for precise detection of corner points on a coplanar checkerboard in order to perform stereo camera calibration using a single frame. Considering the conditions of automobile production lines where a stereo camera is attached to the windshield of a vehicle, this research focuses on a coplanar calibration methodology. To obtain the accurate values of the stereo camera parameters using the calibration methodology, precise localization of a large number of feature points on a calibration target image should be ensured. To realize this demand, the idea with respect to a checkerboard pattern design and the use of a Homography matrix are provided. The calibration result obtained by the proposed method is also verified by comparing the depth information from stereo matching and a laser scanner.

• Korean Journal of Remote Sensing
• /
• v.31 no.2
• /
• pp.171-182
• /
• 2015

We propose a camera system to acquire indoor stereo omni-directional images and its calibration method. These images can be utilized for indoor precise mapping and sophisticated imagebased services. The proposed system is configured with a rotating stereo line camera system, providing stereo omni-directional images appropriate to stable stereoscopy and precise derivation of object point coordinates. Based on the projection model, we derive a mathematical model for the system calibration. After performing the system calibration, we can estimate object points with an accuracy of less than ${\pm}16cm$ in indoor space. The proposed system and calibration method will be applied to indoor precise 3D modeling.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.8 no.2
• /
• pp.111-119
• /
• 2013

This paper proposes one method on photometric stereo calibration using the constraint on light source directions in which the light sources have the unknown tilt and slant angles but the slant angles are the same. First, the constraint is analyzed based on the equation of linear ambiguity which leads to the conclusion that another constraint should be added to solve the calibration completely. Later, the combination of constraint on light source directions and the constraint that there exists at least six surface patches having known albedos is exploited to resolve the linear ambiguity up to an accurate and close-form solution. The effective performance of the proposed method is demonstrated through experiment results.

• The Journal of the Korea Contents Association
• /
• v.10 no.6
• /
• pp.10-17
• /
• 2010

This paper presents a calibration method of an omnidirectional stereo camera which may be essentially performed for distance measurement to a certain point. In the calibration of the omnidirectional stereo camera, the independent calibrations of two cameras or the calibration of a stereo camera having the small baseline is feasible applying many methods studied in the past. However, the baseline should be large enough for long distance measurement by the omnidirectional stereo camera, since it is not easy to calibrate two cameras with a large baseline at the same time. It is because a test pattern for the calibration, which is simultaneously captured by two omnidirectional cameras, appears too small in at least one of the omnidirectional cameras. It causes inaccurate calibration. In this paper, therefore, we propose a calibration method of the omnidirectional stereo camera with a large baseline and empirically verify its feasibility.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.250-255
• /
• 2003

The position of a 3-dimensional(3D) point can be measured by using calibrated stereo camera. To obtain more accurate measurement ,more accurate camera calibration is required. There are many existing methods to calibrate camera. The simple linear methods are usually not accurate due to nonlinear lens distortion. The nonlinear methods are accurate more than linear method, but it increase computational cost and good initial guess is needed. The multi step methods need to know some camera parameters of used camera. Recent years, these explicit model based camera calibration work with the development of more precise camera models involving correction of lens distortion. But these explicit model based camera calibration have disadvantages. So implicit camera calibration methods have been derived. One of the popular implicit camera calibration method is to use neural network. In this paper, we propose implicit stereo camera calibration method for 3D reconstruction using support vector machine. SVM can learn the relationship between 3D coordinate and image coordinate, and it shows the robust property with the presence of noise and lens distortion, results of simulation are shown in section 4.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.9
• /
• pp.3422-3427
• /
• 2010

In this paper, we presents a sensor calibration technique using stereo X-ray images to provide efficient inspection of fast moving cargo objects. Stereo X-ray scanned images are acquired from a specially designed equipment which consists of a X-ray source, dual-linear array detector, and a conveyor system. Dual detector is installed so that rectified stereo X-ray images of objects are acquired. Using the stereo X-ray images, we carry out a sensor calibration to find the correspondences between the images and reconstruct 3-D shapes of real objects. Using the Image acquired from the stereo detectors with varying distances, we calculated the GCP(ground control point)of the image. And we figure out the error by comparing calculated GCP and GCP of the real object. The experimental results show the proposed technique can enhance the accuracy of stereo matching and give more efficient visualization for cargo inspection image.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 1997.03a
• /
• pp.207-212
• /
• 1997

In estimating the formability of sheet metal, the stereo vision system contributes the accuracy of strain of sheet metal, the convenience in measuring the strain of sheet metal, and the handiness in preparing the forming limit diagram by calculating the 3D values and strain of sheet metal. The algorithm has been developed so that the 3D-coordinate values of sheet metal could be calculated by image processing which is composed of camera calibration, and the stereo matching of images in two viewpoints. By comparing with experiments, the possibility and the convenience of algorithm has been verified, which could calculate the 3D-coordinate values of sheet metal automatically by using the preprocessing of the original image of sheet metal, which had the noise before adjusting the camera calibration and the stereo matching algorithm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.36 no.4
• /
• pp.295-303
• /
• 2018

The stereo camera system has a fixed baseline and therefore has a constant scale. However, it is difficult to measure the actual three-dimensional coordinate since the scale is not fixed when relative orientation parameters are determined through the key-point matching in the stereo image each time. Therefore, the purpose of this study was to perform the stereo camera calibration that simultaneously determines the internal characteristics of the left and right cameras and the camera relationship between them using the modified collinearity equation and compared it with the two independent single cameras calibration. In the experiment using the images taken at close range, the RMSE (Root Mean Square Error) of ${\pm}0.014m$ was occurred when the three dimensional distances were compared in the single calibration results. On the other hand, the accuracy of the three-dimensional distance of the stereo camera calibration was better because the stereo camera results were almost no error compared to the results from two single cameras. In the comparison of the epipolar images, the RMSE of the stereo camera was 0.3 pixel more than that of the two single cameras, but the effect was not significant.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.5
• /
• pp.383-389
• /
• 2000

This paper presents a stereo camera system that provides a Pair of stereo images using a Biprism. The equivalent of a stereo Pair of images is formed as the left and right halves of a single CCD image. The system is therefore cheap and extremely easy to calibrate since it requires only one CCD camera. An additional advantage of the geometrical set-up is that corresponding features lie on the same scanline automatically, The single camera and Biprism have led to a simple stereo system for which correspondence is very easy and which is accurate for nearby objects in a small field of view. Since we use only a single lens, calibration of the system is greatly simplified. Given the parameters in the Biprism-stereo camera system, we can reconstruct the 3-D structure using only the disparity between the corresponding points.

• Journal of Biosystems Engineering
• /
• v.28 no.1
• /
• pp.65-76
• /
• 2003

The analysis of cow body parameters is important to provide some useful information fur cow management and cow evaluation. Present methods give many stresses to cows because they are invasive and constrain cow postures during measurement of body parameters. This study was conducted to develop the stereo vision system fur non-invasive analysis of cow body features. Body feature parameters of 16 heads at two farms(A, B) were measured using scales and nineteen stereo images of them with walking postures were captured under outdoor illumination. In this study, the camera calibration and inverse perspective transformation technique was established fer the stereo vision system. Two calibration results were presented for farm A and fm B, respectively because setup distances from camera to cow were 510 cm at farm A and 630cm at farm B. Calibration error values fer the stereo vision system were within 2 cm for farm A and less than 4.9 cm for farm B. Eleven feature points of cow body were extracted on stereo images interactively and five assistant points were determined by computer program. 3D world coordinates for these 15 points were calculated by computer program and also used for calculation of cow body parameters such as withers height. pelvic arch height. body length. slope body length. chest depth and chest width. Measured errors for body parameters were less than 10% for most cows. For a few cow. measured errors for slope body length and chest width were more than 10% due to searching errors fer their feature points at inside-body positions. Equation for chest girth estimated by chest depth and chest width was presented. Maximum of estimated error fur chest girth was within 10% of real values and mean value of estimated error was 8.2cm. The analysis of cow body parameters using stereo vision system were successful although body shape on the binocular stereo image was distorted due to cow movements.