Cylindrical Calibration for Hybrid Epipolar Configurations. Matrice Semi Fondamentale pour Système de Stéréoscopie Hybride

Cylindrical Calibration for Hybrid Epipolar Configurations

Matrice Semi Fondamentale pour Système de Stéréoscopie Hybride

Laurent Smadja Ryad Benosman  Jean Devars 

Laboratoire des Instruments et Systèmes d’Ile-de-France, Université Paris VI, BP 164,Tour 22-12 2ème étage 4 Place Jussieu, 75252 Paris Cedex 05, France

Page: 
513-526
|
Received: 
24 January 2005
|
Accepted: 
N/A
|
Published: 
31 December 2005
| Citation

OPEN ACCESS

Abstract: 

This paper deals with the calibration of a cylindrical omnidirectional imaging system,based on a rotating 2048 pixels linear camera which provides high definition panoramas. The two-step algorithm relies on line segment projections as calibration features,which are sinusoidal curves. A cylindrical image line detection algorithm is proposed,based on the dual principle of the Hough transform.Moreover, the use of Plücker coordinates introduces some new characteristics in the calibration process.This kind of formalism allows a linearization of the cylindrical projection,which is non-linear in the usual way. Results obtained from this first step are used to evaluate one of the intrinsic parameters,the other one being determined by a linear criterion minimization in the dual space, ie the sine magnitude space.

Résumé

Cet article présente le calibrage d'un capteur cylindrique omnidirectionnel,qui fournit des panoramas Haute Résolution par la mise en rotation d'une caméra CCD linéaire. L'algorithme utilise les segments de droite pour primitives,dont les projections sont des composées de sinusoïdes,et est constitué de deux étapes. Un algorithme de détection et d'identification de l'image de droites est proposé,selon une méthode proche de la transformée de Hough. De plus,l'utilisation des coordonnées de Plücker permet la linéarisation de la projection cylindrique. Les résultats extraits de la première étape sont utilisés pour l'évaluation du premier paramètre intrinsèque. Le second est quant à lui déterminé par l'intermédiaire de la minimisation d'un critère linéaire dans l'espace d'accumulation.

Keywords: 

Non-Linear Calibration,Omnidirectional Imaging System,Plücker,Coordinates,Hough Transform.

Mots clés 

Calibrage non linéaire,Imagerie Panoramique,Coordonnées de Plücker,Transformée de Hough.

1. Introduction
2. Modèle Cylindrique et Étalonnage
3. Détection de Droites
4. Résultats
5. Configuration Stéréo Hybride
6. Conclusion
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