Source: http://www.google.com/patents/US7479982?ie=ISO-8859-1&dq=5,838,906
Timestamp: 2014-04-17 16:40:05
Document Index: 450220559

Matched Legal Cases: ['art 1', 'art 1', 'art 131', 'art 134', 'art 160', 'art 1', 'art 1', 'art 1']

Patent US7479982 - Device and method of measuring data for calibration, program for measuring ... - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA device for measuring data for calibration for obtaining data for calibration of a camera 2 capable of varying its optical conditions, wherein the data for calibration are obtained using a plurality of images of a calibration chart 1 having marks arranged thereon which were photographed with the camera...http://www.google.com/patents/US7479982?utm_source=gb-gplus-sharePatent US7479982 - Device and method of measuring data for calibration, program for measuring data for calibration, program recording medium readable with computer, and image data processing deviceAdvanced Patent SearchPublication numberUS7479982 B2Publication typeGrantApplication numberUS 10/612,404Publication dateJan 20, 2009Filing dateJul 3, 2003Priority dateJul 3, 2002Fee statusPaidAlso published asDE60317976D1, DE60317976T2, EP1378790A2, EP1378790A3, EP1378790B1, US20040066454Publication number10612404, 612404, US 7479982 B2, US 7479982B2, US-B2-7479982, US7479982 B2, US7479982B2InventorsHitoshi Otani, Nobuo Kochi, Takayuki NomaOriginal AssigneeTopcon CorporationExport CitationBiBTeX, EndNote, RefManPatent Citations (33), Non-Patent Citations (9), Referenced by (14), Classifications (16), Legal Events (3) External Links: USPTO, USPTO Assignment, EspacenetDevice and method of measuring data for calibration, program for measuring data for calibration, program recording medium readable with computer, and image data processing deviceUS 7479982 B2Abstract A device for measuring data for calibration for obtaining data for calibration of a camera 2 capable of varying its optical conditions, wherein the data for calibration are obtained using a plurality of images of a calibration chart 1 having marks arranged thereon which were photographed with the camera 1 under varied optical conditions, comprising: a mark extracting part 131 for extracting the marks from the images of the chart; an internal parameter calculating part 134 for calculating data for calibration under optical conditions under which the images of the chart were photographed based on the positions of the marks extracted by the mark extracting part and a plurality of conditions under which the images of the chart were photographed; and an internal parameter function calculating part 160 for calculating data for calibration corresponding to the varied optical photographing conditions of the camera 2, using the data for calibration calculated in the internal parameter calculating part and a plurality of optical conditions under which the images of the chart were photographed. The device can remove the effect of lens distortion from an image photographed with a camera capable of varying its optical conditions.
SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a first object of the present invention is to provide a device and a method for measuring data for calibration with which the internal parameters of a camera necessary to obtain a high quality image free from the effect of lens distortion can be obtained with ease even if the camera is of the type in which optical conditions can be varied (a zoom camera, for example).
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram, showing a device for measuring data for calibration according to a first embodiment of the present invention;
DESCRIPTION OF THE PREFERRED EMBODIMENTS Description will be hereinafter made of the present invention with reference to the drawings. FIG. 1 is a block diagram illustrating a device for measuring data for calibration according to a first embodiment of the present invention. In FIG. 1, designated as 1 is a chart for calibration. The chart 1 is a flat sheet on which first and second marks has been printed. The chart 1 may be a flat screen of a device such as a notebook computer displaying an image of a flat sheet on which first and second marks are printed. A screen of glass, such as a screen of a liquid crystal display, is suitable for a device for displaying the chart 1 since its surface expands and contracts with changes in moisture and temperature much less than that of a paper sheet.
X=(b1�x+b2�y+b3)/(b7�x+b8�y+1) Y=(b4�x+b5�y+b6)/(b7�x+b8�y+1) (2)
ω=tan−1(C�b8)φ=tan−1(−C�b7�cos ω)κ=tan−1(−b4/b1) (φ=0)κ=tan−1(−b2/b5) (φ≠0 and ω=0)κ=tan−1{−(A1�A3−A2�A4)/(A1�A2−A3�A4)} (φ≠0 and ω=0) Z0=C�cos ω�{(A22+A32)/(A12+A42)}�+Zm X0=b3−(tan ω�sin κ/cos φ−tan φ�cos κ)�(Zm−Z0) Y0=b6−(tan ω�cos κ/cos φ−tan φ�sin κ)�(Zm−Z0) (3)
( x p y p z p ) = ⁢ ( 1 0 0 0 cos ⁢ ⁢ ω - sin ⁢ ⁢ ω 0 sin ⁢ ⁢ ω cos ⁢ ⁢ ω ) ⁢ ( cos ⁢ ⁢ ϕ 0 sin ⁢ ⁢ ϕ 0 1 0 - sin ⁢ ⁢ ϕ 0 cos ⁢ ⁢ ϕ ) ⁢ ( cos ⁢ ⁢ κ - sin ⁢ ⁢ κ 0 sin ⁢ ⁢ κ cos ⁢ ⁢ κ 0 0 0 1 ) ⁢ ( X - X 0 Y - Y 0 Z - Z 0 ) = ⁢ ( a 11 a 12 a 13 a 21 a 22 a 23 a 31 a 32 a 33 ) ⁢ ( X - X 0 Y - Y 0 Z - Z 0 ) ( 4 ) wherein, (X0, Y0, Z0) are the ground coordinates of the projection center Oc as shown in FIG. 11(A).
x = - c ⁢ a 11 ⁡ ( X - X 0 ) + a 12 ⁡ ( Y - Y 0 ) + a 13 ⁡ ( Z - Z 0 ) a 31 ⁡ ( X - X 0 ) + a 32 ⁡ ( Y - Y 0 ) + a 33 ⁡ ( Z - Z 0 ) + Δ ⁢ ⁢ x ( 8 ) y = - c ⁢ a 21 ⁡ ( X - X 0 ) + a 22 ⁡ ( Y - Y 0 ) + a 23 ⁡ ( Z - Z 0 ) a 31 ⁡ ( X - X 0 ) + a 32 ⁡ ( Y - Y 0 ) + a 33 ⁡ ( Z - Z 0 ) + Δ ⁢ ⁢ y ( 9 ) The equations (8) and (9) are based on the equation of collinearity condition (5) for single-photograph orientation described in describing the first mark extraction process. Namely, the bundle adjustment is a method in which various solutions are obtained from a plurality of images by least square approximation, and by which the exterior orientation positions of the camera at different photographing positions can be obtained at the same time. Namely, the calibration elements of the camera can be obtained.
{ Δ ⁢ ⁢ x = x 0 + x ⁡ ( k 1 ⁢ r 2 + k 2 ⁢ r 4 ) Δ ⁢ ⁢ y = y 0 + y ⁡ ( k 1 ⁢ r 2 + k 2 ⁢ r 4 ) r 2 = ( x 2 + y 2 ) / c 2 ( 10 ) k1, k2: Lens distortion in the radial direction
 X 01 Y 01 Z 01 1 X 02 Y 02 Z 02 1 X 1 Y 1 Z 1 1 X 2 Y 2 Z 2 1  = C ( 11 ) X01, Y01, Z01: Projection center coordinates of a left picture
F ⁡ ( κ 1 , ϕ 1 , κ 2 , ϕ 2 , ω 2 ) =  Y 1 Z 1 Y 2 Z 2  = Y 1 ⁢ Z 2 - Y 2 ⁢ Z 1 = 0 ( 12 ) The following relationship equations hold between the model coordinate system XYZ and the camera coordinates xyz:
( X 1 Y 1 Z 1 ) = ( cos ⁢ ⁢ ϕ 1 0 sin ⁢ ⁢ ϕ 1 0 1 0 - sin ⁢ ⁢ ϕ 1 0 cos ⁢ ⁢ ϕ 1 ) ⁢ ( cos ⁢ ⁢ κ 1 - sin ⁢ ⁢ κ 1 0 sin ⁢ ⁢ κ 1 cos ⁢ ⁢ κ 1 0 0 0 1 ) ⁢ ( x 1 y 1 - c ) ( X 2 Y 2 Z 2 ) = ⁢ ( 1 0 0 0 cos ⁢ ⁢ ω 2 - sin ⁢ ⁢ ω 2 0 sin ⁢ ⁢ ω 2 cos ⁢ ⁢ ω 2 ) ⁢ ( cos ⁢ ⁢ ϕ 2 0 sin ⁢ ⁢ ϕ 2 0 1 0 - sin ⁢ ⁢ ϕ 2 0 cos ⁢ ⁢ ϕ 2 ) ⁢ ( cos ⁢ ⁢ κ 2 - sin ⁢ ⁢ κ 2 0 sin ⁢ ⁢ κ 2 cos ⁢ ⁢ κ 2 0 0 0 1 ) ⁢ ( x 2 y 2 - c ) + ( 1 0 0 ) ( 13 ) Using the equations (11) to (13), unknown parameters are obtained according to the following procedure.
Patent CitationsCited PatentFiling datePublication dateApplicantTitleUS4760447 *Jul 31, 1986Jul 26, 1988Picker International, Inc.Calibration pattern and method for matching characteristics of video monitors and camerasUS5699440 *Dec 1, 1994Dec 16, 1997Genop Ltd.Method and system for testing the performance of at least one electro-optical test deviceUS5821993 *Jan 25, 1996Oct 13, 1998Medar, Inc.Method and system for automatically calibrating a color camera in a machine vision systemUS5850352 *Nov 6, 1995Dec 15, 1998The Regents Of The University Of CaliforniaImmersive video, including video hypermosaicing to generate from multiple video views of a scene a three-dimensional video mosaic from which diverse virtual video scene images are synthesized, including panoramic, scene interactive and stereoscopic imagesUS6437823 *Apr 30, 1999Aug 20, 2002Microsoft CorporationMethod and system for calibrating digital camerasUS6456339 *Oct 28, 1998Sep 24, 2002Massachusetts Institute Of TechnologySuper-resolution displayUS6542185 *Jan 7, 1998Apr 1, 2003Intel CorporationMethod and apparatus for automated optimization of white and color balance on video cameraUS6654493 *Nov 12, 1999Nov 25, 2003Lightsurf Technologies, Inc.Charactering and calibrating an image capture deviceUS6768509 *Jun 12, 2000Jul 27, 2004Intel CorporationMethod and apparatus for determining points of interest on an image of a camera calibration objectUS6798446 *Jul 9, 2001Sep 28, 2004Logitech Europe S.A.Method and system for custom closed-loop calibration of a digital cameraUS6816187 *Jun 2, 2000Nov 9, 2004Sony CorporationCamera calibration apparatus and method, image processing apparatus and method, program providing medium, and cameraUS7023472 *Apr 23, 1999Apr 4, 2006Hewlett-Packard Development Company, L.P.Camera calibration using off-axis illumination and vignetting effectsUS7023473 *Apr 13, 2005Apr 4, 2006Sony CorporationCamera calibration device and method, and computer systemUS7071966 *Jun 13, 2003Jul 4, 2006Benq CorporationMethod of aligning lens and sensor of cameraUS7151560 *Jun 20, 2002Dec 19, 2006Hewlett-Packard Development Company, L.P.Method and apparatus for producing calibration data for a digital cameraUS7155030 *Mar 8, 2005Dec 26, 2006Korea Advanced Institute Of Science And TechnologyCamera calibration system using planar concentric circles and method thereofUS7196721 *Feb 4, 2003Mar 27, 2007Canon Kabushiki KaishaInformation processing method and apparatus, and recording mediumUS7227592 *Sep 26, 2003Jun 5, 2007Mitsubishi Electric Research Laboratories, Inc.Self-correcting rear projection televisionUS7301560 *May 26, 2004Nov 27, 2007Topcon CorporationThree-dimensional field for calibration and method of photographing the sameUS20010045980 *May 18, 2001Nov 29, 2001Jacques LeonardCalibration method for digital camera and printerUS20020041383Aug 15, 2001Apr 11, 2002Lewis Clarence A.Distortion free image capture system and methodUS20030007077 *Jul 9, 2001Jan 9, 2003Logitech Europe S.A.Method and system for custom closed-loop calibration of a digital cameraUS20030222984 *Jun 3, 2002Dec 4, 2003Zhengyou ZhangSystem and method for calibrating a camera with one-dimensional objectsUS20040189805 *Apr 8, 2004Sep 30, 2004Csem Centre Suisse D'electronique Et De Microtechnique SaMethod for calibration of an electronic cameraUS20050099502 *Dec 15, 2004May 12, 2005Microsoft CorporationSelf-calibration for a catadioptric cameraDE19536297A1Sep 29, 1995Apr 3, 1997Daimler Benz AgGeometric calibration of optical 3-D sensors for three=dimensional measurement of objectsEP0964223A1Jun 9, 1999Dec 15, 1999Kabushiki Kaisha TOPCONImage forming apparatusJP2002027507A Title not availableJPH0886613A Title not availableJPH10320558A Title not availableJPH11101640A Title not availableJPH11271053A Title not availableJPH11351865A Title not available* Cited by examinerNon-Patent CitationsReference1A. Wiley et al., "Metric Aspects of Zoom Vision", Close-Range Photogrammetry Meets Machinery Vision, SPIE, vol. 1395, 1990, pp. 112-118.2J. Cardillo et al., "3-D Position Sensing Using a Passive Monocular Vision System", IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 13, No. 8, Aug. 1, 1991, pp. 809-813.3K. Tarabanis et al., "Modeling of a Computer-Controlled Zoom Lens", Proceedings of the International Conference on Robotics and Automation, IEEE Comp. Soc. Press, vol. 3, Conf. 3, May 12-14, 1992, pp. 1545-1551.4R. Enciso et al., "Experimental Self-Calibration from Four Views", Proceedings of 8th International Conference on Image Analysis and Processing, Sep. 1995, pp. 307-312.5R. Hartley, "Self-Calibration from Multiple Views with a Rotating Camera", Proceedings of Third European Conference on Computer Vision, vol. 1, 1994, pp. 471-478.6R. Tsai, "A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the-Shelf TV Cameras and Lenses", IEEE Journal of Robotics and Automation, vol. RA-3, No. 4, Aug. 1987, pp. 323-344.7R.G. Willson, "Modeling and Calibration of Automated Zoom Lenses", Ph.D Dissertation, The Robotics Istitute, Carnegie, Mellon University, Jan. 1994, pp. 1-171.8Shen-Wen Shih et al., "Calibration of an Active Binocular Head", IEEE Transactions on Systems, Man and Cybernetics-Part A: Systems and Humans, vol. 28, No. 4, Jul. 1, 1998, pp. 426-442.9T. Noma et al., "New System of Digital Camera Calibration. DC-100", Survey Architecture System Exhibition, released on Jul. 4, 2002, (no page numbers).Referenced byCiting PatentFiling datePublication dateApplicantTitleUS7667734 *Jan 13, 2006Feb 23, 2010Funai Electric Co., Ltd.Liquid-crystal television setUS7733375 *Mar 23, 2005Jun 8, 2010Marvell International Technology Ltd.Setting imager parameters based on configuration patternsUS7733404 *May 5, 2009Jun 8, 2010Seiko Epson CorporationFast imaging system calibrationUS7750969 *Jul 21, 2005Jul 6, 2010Japan Science And Technology AgencyCamera calibration system and three-dimensional measuring systemUS7936915 *May 29, 2007May 3, 2011Microsoft CorporationFocal length estimation for panoramic stitchingUS7995098 *Sep 11, 2006Aug 9, 2011Radiant Imaging, Inc.Systems and methods for measuring spatial and angular performance of a visual displayUS7999851 *May 22, 2008Aug 16, 2011Tessera Technologies Ltd.Optical alignment of cameras with extended depth of fieldUS8339464 *Mar 21, 2008Dec 25, 2012Eads Test And ServicesUniversal test system for controlling a plurality of parameters concerning the operation of a device for presenting optoelectronic information of various typesUS8531530 *Dec 6, 2011Sep 10, 2013Canon Kabushiki KaishaAdjusting method for a lens unit, lens unit and image reading apparatusUS20090146972 *Feb 12, 2009Jun 11, 2009Smart Technologies UlcApparatus and method for detecting a pointer relative to a touch surfaceUS20100214418 *Mar 21, 2008Aug 26, 2010Eads Test & ServicesUniversal test system for controlling a plurality of parameters concerning the operation of a device for presenting optoelectronic information of various typesUS20110292182 *Mar 16, 2011Dec 1, 2011Kabushiki Kaisha ToshibaCamera module and image recording methodUS20120019669 *Jul 20, 2010Jan 26, 2012Aptina Imaging CorporationSystems and methods for calibrating image sensorsUS20120140111 *Dec 6, 2011Jun 7, 2012Canon Kabushiki KaishaAdjusting method for a lens unit, lens unit and image reading apparatus* Cited by examinerClassifications U.S. Classification348/188, 348/51, 348/175, 348/180, 348/176, 348/187International ClassificationG06T3/00, H04N17/00, H04N7/18, H04N15/00, H04N13/04, G01C11/06, G06T1/00, G01B11/00Cooperative ClassificationG01C11/06European ClassificationG01C11/06Legal EventsDateCodeEventDescriptionJun 20, 2012FPAYFee paymentYear of fee payment: 4Oct 27, 2009CCCertificate of correctionNov 19, 2003ASAssignmentOwner name: TOPCON CORPORATION, JAPANFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:OTANI, HITOSHI;KOCHI, NOBUO;NOMA, TAKAYUKI;REEL/FRAME:014707/0699Effective date: 20030829RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services©2012 Google