Stereo camera calibration

O'Kennedy, Brian James (2002-12)

Thesis (MScEng)--Stellenbosch University, 2002.

Thesis

ENGLISH ABSTRACT: We present all the components needed for a fully-fledged stereo vision system, ranging from object detection through camera calibration to depth perception. We propose an efficient, automatic and practical method to calibrate cameras for use in 3D machine vision metrology. We develop an automated stereo calibration system that only requires a series of views of a manufactured calibration object in unknown positions. The system is tested against real and synthetic data, and we investigate the robustness of the proposed method compared to standard calibration practice. All the aspects of 3D stereo reconstruction is dealt with and we present the necessary algorithms to perform epipolar rectification on images as well as solving the correspondence and triangulation problems. It was found that the system performs well even in the presence of noise, and calibration is easy and requires no specialist knowledge.

AFRIKAANSE OPSOMMING: Ons beskryf al die komponente van 'n omvattende stereo visie sisteem. Die kern van die sisteem is 'n effektiewe, ge-outomatiseerde en praktiese metode om kameras te kalibreer vir gebruik in 3D rekenaarvisie. Ons ontwikkel 'n outomatiese, stereo kamerakalibrasie sisteem wat slegs 'n reeks beelde van 'n kalibrasie voorwerp in onbekende posisies vereis. Die sisteem word getoets met reële en sintetiese data, en ons vergelyk die robuustheid van die metode met die standaard algoritmes. Al die aspekte van die 3D stereo rekonstruksie word behandel en ons beskryf die nodige algoritmes om epipolêre rektifikasie op beelde te doen sowel as metodes om die korrespondensie- en diepte probleme op te los. Ons wys dat die sisteem goeie resultate lewer in die aanwesigheid van ruis en dat kamerakalibrasie outomaties kan geskied sonder dat enige spesialis kennis benodig word.

Please refer to this item in SUNScholar by using the following persistent URL: http://hdl.handle.net/10019.1/53063
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