Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (3): 744753.doi: 10.23919/JSEE.2023.000074
• CONTROL THEORY AND APPLICATION • Previous Articles
Liang WEI^{1}(), Guiyang ZHANG^{2}(), Ju HUO^{1}^{,}*(), Muyao XUE^{3}()
Received:
20210730
Online:
20230615
Published:
20230630
Contact:
Ju HUO
Email:weiliangts@163.com;gyzhang@cslg.edu.cn;torch@hit.edu.cn;xuemuyao@163.com
About author:
Supported by:
Liang WEI, Guiyang ZHANG, Ju HUO, Muyao XUE. Novel camera calibration method based on invariance of collinear points and pole–polar constraint[J]. Journal of Systems Engineering and Electronics, 2023, 34(3): 744753.
Table 1
Edge and center location accuracy pixel "
Location accuracy  Gaussian white noise  
   
Edge location  Mean error  0.050 1  0.086 7  0.106 4 
Variance  0.019 8  0.030 7  0.251 2  
Fitting center  Coordinate deviation  (0.036 1,0.022 3)  (0.041 4,0.014 2)  (0.054 1,0.012 1) 
Distance error  0.042 4  0.043 7  0.055 4 
Table 2
Edge and center of ellipse in perspective projection pixel "
No.  Concentric circle  Circle  
1  (257.290 6,194.163 7)  (323.476 4,124.467)  (512.191 6,162.626 9) 
2  (271.942 6,250.243)  (167.923 6,465.429 1)  (493.319 5,203.224 7) 
3  (264.001,209.842 4)  (104.484 9,407.255 9)  (641.911 8,276.296 5) 
4  (271.023 2,238.535 9)  (75.152 5,328.070 5)  (532.757 7,333.176 6) 
5  (154.277 3,205.306 3)  (77.085 3,339.652 8)  (496.89,284.526 3) 
6  (154.246 5,323.018 9)  (125.408 1,98.222 5)  (495.664 8,195.235 5) 
7  (254.684,323.241 9)  (71.091 6,246.484 7)  (582.305 7,341.247 5) 
8  (271.209 8,266.330 4)  (335.611 1,151.473 6)  (624.006 5,311.547 3) 
9  (251.659 8,185.683 3)  (278.431,68.076 5)  (648.944 3,232.622 3) 
10  (256.611 4,193.771 9)  (172.061,58.068 8)  (648.098 7,248.539 1) 
11  (265.711 1,297.18)  (280.737 5,69.936 6)  (547.235 5,131.304 5) 
12  (239.580 8,343.049 2)  (340.899 7,167.243 1)  (611.235 5,325.248 7) 
13  (176.241 6,349.518 3)  (348.717 8,208.216 4)  (640.550 6,280.305 7) 
14  (141.679 8,274.278 6)  (172.476 4,467.438 8)  (595.547 3,128.567 3) 
15  (164.932,187.213)  (91.644 1,155.172 6)  (646.799 1,203.622 3) 
Ellipse center  (208.121 5,259.962 1)  (211.052,259.932 8)  (570.910 1,234.413 2) 
Table 4
Comparison of camera intrinsic parameters pixel "
Parameter  Method  
Proposed  Traditional  
Left camera   
  
  
  
Right camera   
  
  
 
1 
ZHANG J, ZHU J, DENG H X, et al Multicamera calibration method based on a multiplane stereo target. Applied Optics, 2019, 58 (34): 9353 9359.
doi: 10.1364/AO.58.009353 
2 
HUO J, LI Y H, YANG M Multicamera calibration method based on minimizing the difference of reprojection error vectors. Journal of Systems Engineering and Electronics, 2018, 29 (4): 844 853.
doi: 10.21629/JSEE.2018.04.19 
3 
HUANG B, SUN Y R, ZHU Y F, et al Vision pose estimation from planar dual circles in a single image. Optik, 2016, 127 (10): 4275 4280.
doi: 10.1016/j.ijleo.2016.01.122 
4 
ZHANG Z Y A flexible new technique for camera calibration. IEEE Trans. on Pattern Analysis and Machine Intelligence, 2000, 22 (11): 1330 1334.
doi: 10.1109/34.888718 
5 
ZHAO Z J, LIU Y C Applications of projected circle centers in camera calibration. Machine Vision and Applications, 2010, 21 (3): 301 307.
doi: 10.1007/s001380080162y 
6 
YANG F L, ZHAO Y, WANG X C Two separate circles with sameradius: projective geometric properties and applicability in camera calibration. IEEE Access, 2020, 8, 16795 16806.
doi: 10.1109/ACCESS.2020.2963884 
7 
LIANG S X, ZHAO Y Camera calibration based on the common polepolar properties between two coplanar circles with various positions. Applied Optics, 2020, 59 (17): 5167 5178.
doi: 10.1364/AO.388109 
8 
WANG Z P, CHEN D R, GONG J L, et al Fast highprecision ellipse detection method. Pattern Recognition, 2021, 111, 107741.
doi: 10.1016/j.patcog.2020.107741 
9 
THURNHOFERHEMSI K, LOPEZRUBIO E, BLAZQUEZPARRA E B, et al Ellipse fitting by spatial averaging of random ensembles. Pattern Recognition, 2020, 106, 107406.
doi: 10.1016/j.patcog.2020.107406 
10  LU C S, XIA S Y, SHAO M, et al Arcsupport line segments revisited: an efficient highquality ellipse detection. IEEE Trans. on Image Processing, 2019, 29, 768 781. 
11 
XIE Z X, WANG X M Research on extraction algorithm of projected circular centers of marked points on the planar calibration targets. Optics and Precision Engineering, 2019, 27 (2): 440 449.
doi: 10.3788/OPE.20192702.0440 
12  GUO Y B, YAO Y, DI X G Subpixel location algorithm for circle target center based on spatial moment. Journal of Jilin University, 2009, 39 (1): 160 163. 
13 
SHEN Y J, ZHANG X, CHENG W, et al Quasieccentricity error modeling and compensation in vision metrology. Measurement Science and Technology, 2018, 29 (4): 045006.
doi: 10.1088/13616501/aaa5e7 
14 
SU S, LUO Y, YANG K K, et al A novel camera calibration method based on multileveledgefitting ellipseshape danalytical model. IEEE Sensors Journal, 2020, 20 (11): 5818 5826.
doi: 10.1109/JSEN.2020.2972615 
15 
CUI J S, HUO J, YANG M The circular mark projection error compensation in camera calibration. Optik, 2015, 126 (20): 2458 2463.
doi: 10.1016/j.ijleo.2015.06.017 
16 
LI Y H, HUO J, YANG M, et al Algorithm of locating the sphere center imaging point based on novel edge model and Zernike moments for vision measurement. Journal of Modern Optics, 2019, 66 (2): 218 227.
doi: 10.1080/09500340.2018.1515377 
17 
AHN S J, WARNECKE H J, KOTOWSKI R Systematic geometric image measurement errors of circular object targets: mathematical formulation and correction. The Photogrammetric Record, 1999, 16 (93): 485 502.
doi: 10.1111/0031868X.00138 
18 
ZHU W D, CAO L H, MEI B, et al Calibration of industrial cameras using asymmetric circle center projection. Optics and Precision Engineering, 2014, 22 (8): 2267 2273.
doi: 10.3788/OPE.20142208.2267 
19 
LU X D, XUE J P, ZHANG Q C High camera calibration method based on true coordinate computation of circle center. Chinese Journal of Lasers, 2020, 47 (3): 0304008.
doi: 10.3788/CJL202047.0304008 
20  LIU Q, SU H. Correction of the asymmetrical circular projection in DLT camera calibration. Proc. of the Conference on Image and Signal Processing, 2008: 344−348. 
21  WEI Z Z, ZHANG G J A distortion error model of the perspective projection of ellipse center and its simulation. Chinese Journal of Scientific Instrument, 2003, 24 (2): 160 164. 
22  DAI D C, YAO M L, JIN W, et al Optimum design of sparse concentric rings array. Systems Engineering and Electronics, 2018, 40 (4): 739 745. 
23  BU L B, HUO H T, LIU X Y, et al Concentric circle grids for camera calibration with considering lens distortion. Optics and Lasers in Engineering, 2021, 140 (11): 106527. 
24  WU J F, LIU G X. Nonmetric calibration of camera lens distortion using concentric circles pattern. Proc. of the Conference on Mechanic Automation and Control Engineering, 2010: 3338−3341. 
25 
HE D, LIU X L, PENG X, et al Eccentricity error identification and compensation for highaccuracy 3D optical measurement. Measurement Science and Technology, 2013, 24 (7): 075402.
doi: 10.1088/09570233/24/7/075402 
26  AN J J, GAO N, CHEN C, et al Correcting method and evaluation of eccentricity error of circle target. Laser & Optoelectronics Progress, 2017, 54 (4): 041203. 
27 
YANG S R, LIU M, YIN S B, et al An improved method for location of concentric circles in vision measurement. Measurement, 2017, 100, 243 251.
doi: 10.1016/j.measurement.2016.12.045 
28 
ZHANG B W, LI Y F, CHEN S Y Concentriccirclebased camera calibration. IET Image Processing, 2012, 6 (7): 870 876.
doi: 10.1049/ietipr.2011.0421 
[1]  Ju HUO, Yunhui LI, Ming YANG. Multichannel signal parameters joint optimization for GNSS terminals [J]. Journal of Systems Engineering and Electronics, 2018, 29(4): 844853. 
[2] 
Meng An*, Zhiguo Jiang, Danpei Zhao.
High speed robust image registration and localization using optimized algorithm and its performances evaluation [J]. Journal of Systems Engineering and Electronics, 2010, 21(3): 520526. 
Viewed  
Full text 


Abstract 

