Dense Panoramic Stereovision: Camera Calibration and Image Rectification. Stéréovision Panoramique Dense: Calibrage Précis et Rectification d’Images Panoramiques

Dense Panoramic Stereovision: Camera Calibration and Image Rectification

Stéréovision Panoramique Dense: Calibrage Précis et Rectification d’Images Panoramiques

Jose-Joel Gonzalez-Barbosa Simon Lacroix 

LAAS-CNRS, 7 Av. du Colonel Roche, 31077 Toulouse cedex 4 France

Page: 
497-512
|
Received: 
24 January 2005
| |
Accepted: 
N/A
| | Citation

OPEN ACCESS

Abstract: 

The particular geometry of panoramic cameras defines complex epipolar lines equations.In this paper,we present a way to warp images from a panoramic stereovision bench,so that the epipolar lines become parallel straight lines,thus allowing the use of an optimized fast pixel correlation based stereovision algorithm.The paper first introduces the geometric characterization of panoramic camera composed of parabolic and spherical mirrors,that computes both the intrinsic parameters of the system (mirror surfaces and intrinsic camera parameters) and the errors alignment between the mirrors.Then,it presents the warping equations that allow to generate rectified images.Calibration and stereovision results are presented.

Résumé

La stéréovision panoramique est une fonctionnalité très intéressante,particulièrement en robotique. Cependant,la géométrie particulière des caméras panoramiques définit des épipolaires dont les équations ne sont pas triviales. Dans cet article,nous présentons un moyen de rectifier les images d’un banc stéréoscopique panoramique,qui fournit des images dans lesquelles les épipolaires sont des lignes parallèles, ce qui permet l’application d’un algorithme optimisé de stéréovision par corrélation des pixels. La première partie de l’article présente un modèle géométrique de formation des images pour une caméra catadioptrique composée d’un miroir parabolique et d’un miroir sphérique,qui inclut les paramètres intrinsèques du système (surfaces des miroirs et paramètres intrinsèques de la caméra),et aussi les erreurs d’alignement entre les miroirs. Une procédure qui permet de rectifier les images panoramiques est ensuite présentée,et des résultats de calibrage et de stéréovision panoramique illustrent l’article.

Keywords: 

Catadioptric camera calibration,alignment errors,panoramic image rectification.

Mots clés

Calibrage de caméra catadioptrique,erreurs d’alignement,rectification d’images panoramiques.

1. Introduction
2. Calibrage d’une Caméra Panoramique
3. Stéréovision Panoramique
4. Conclusions
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