Authors:
Pathum Rathnayaka
;
Seung-Hae Baek
and
Soon-Yong Park
Affiliation:
Kyungpook National University, Korea, Republic of
Keyword(s):
Heterogeneous Camera System, Field-of-view, Stereo, Camera Calibration, Relative Pose Estimation, Embedded Checkerboard Pattern, Image Rectification.
Related
Ontology
Subjects/Areas/Topics:
Color and Texture Analyses
;
Computer Vision, Visualization and Computer Graphics
;
Device Calibration, Characterization and Modeling
;
Image and Video Analysis
;
Image Formation and Preprocessing
;
Image Formation, Acquisition Devices and Sensors
;
Motion, Tracking and Stereo Vision
;
Stereo Vision and Structure from Motion
Abstract:
Knowing the correct relative pose between cameras is considered as the first and foremost important step in
a stereo camera system. It has been of the interest in many computer vision related experiments. Much work
has been introduced for stereo systems with relatively common field-of-views; where a few number of advanced
feature points-based methods have been presented for partially overlapping field-of-view systems. In this
paper, we propose a new, yet simplified, method to calibrate a partially overlapping field-of-view heterogeneous
stereo camera system using a specially designed embedded planar checkerboard pattern. The embedded
pattern is a combination of two differently colored planar patterns with different checker sizes. The heterogeneous
camera system comprises a lower focal length wide-angle camera and a higher focal length conventional
narrow-angle camera. Relative pose between the cameras is calculated by multiplying transformation matrices.
Our proposed method becomes a
decent alternative to many advanced feature-based techniques. We show
the robustness of our method through re-projection error and comparing point difference values in ’Y’ axis in
image rectification results.
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