Abstract
Self-calibration for imaging sensors is essential to many computer vision applications. In this paper, a new stratified self-calibration and metric reconstruction method is proposed for zooming/refocusing cameras under circular motion. With the assumption of known rotation angles, the circular motion constraints are first formulated. By enforcing the constraints gradually, metric reconstruction is retrieved up to a two-parameter ambiguity. The closed form expression of the absolute conic w.r.t. the two parameters is deduced. The ambiguity is then resolved with the square pixel assumption of the camera. The advantages of this method are mainly as follows:
-
(i)
It gives precise results by defining and enforcing the circular motion constraints;
-
(ii)
It is flexible that it allows both the focal lengths and the principal point to vary;
-
(iii)
It requires no scene constraint. Experimental results with both synthetic data and real images are presented, demonstrating the accuracy and robustness of the new method.
Similar content being viewed by others
References
Faugeras, O.D.: Three-Dimensional Computer Vision: A Geometric Viewpoint. The MIT Press, Cambridge (1993)
Mendonça, P.R.S., Cipolla, R.: A simple technique for self-calibration. In: Conf. on Computer Vision and Pattern Recognition, vol. I, pp. 500–505 (1999)
Tang, W.K., Hung, Y.S.: A factorization-based method for projective reconstruction with minimization of 2-D reprojection errors. In: Proc. of 24th DAGM 2002, September 2002. LNCS, vol. 2449, pp. 387–394. Springer, Berlin (2002)
Seo, Y., Hong, K.S.: Theory and practice on the self-calibration of a rotating and zooming camera from two views. VISP 148(3), 166–172 (2001)
Pollefeys, M., Gool, L.V.: Stratified self-calibration with modulus constraint. IEEE Trans. Pattern Anal. Mach. Intell. 21(8), 707–724 (1999)
Hartley, R.I., Hayman, E., de Agapito, L., Reid, I.: Camera calibration and the search for infinity. In: Int. Conf. on Computer Vision, vol. 1, pp. 510–516 (1999)
Li, Y., Hung, Y.S.: A stratified self-calibration method for a Stereo rig in planar motion with varying intrinsic parameters. In: Proc. of 26th DAGM 2004. LNCS, vol. 3175, pp. 318–325. Springer, Berlin (2004)
Agapito, L., Hayman, E., Reid, I.: Self-calibtration of rotation and zooming cameras. Int. J. Comput. Vis. 45(2), 107–127 (2001)
Dai, S., Ji, Q.: A new technique for camera self-calibration. In: Proc. of Int. Conf. on Robotics & Automation, pp. 2165–2170 (2001)
Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision. Cambridge University Press, Cambridge (2000)
Armstrong, M., Zisserman, A., Hartley, R.: Self-calibration from image triplets. In: Proc. of European Conf. on Computer Vision. LNCS, vol. 1064/5, pp. 3–16. Springer, Berlin (1996)
Sturm, P.: Critical motion sequences for monocular self-calibration and uncalibrated Euclidean reconstruction. In: Proc. of Conf. on Computer Vision and Pattern Recognition, pp. 609–614 (1997)
Stein, G.: Accurate internal camera calibration using rotation, with analysis of sources of error. In: Proc. of Int. Conf. on Computer Vision, pp. 230–236 (1995)
Frahm, J.M., Koch, R.: Camera calibration with known rotation. In: Proc. of Int. Conf. on Computer Vision, pp. 1418–1425 (2003)
Faugeras, O., Luong, Q., Maybank, S.: Camera self-calibration: Theory and experiments. In: Proc. of Int. Conf. on Computer Vision, pp. 321–334 (1992)
Heyden, A., Aström, K.: Euclidean reconstruction from constant intrinsic parameters. In: Proc. of Int. Conf. on Pattern Recognition, pp. 339–343 (1996)
Pollefeys, M., Van Gool, L.: Self-calibration from the absolute conic on the plane at infinity. In: Proc. of Int. Conf. on Computer Analysis of Images and Patterns, pp. 175–182 (1997)
Heyden, A., Aström, K.: Euclidean reconstruction from image sequences with varying and unknown focal length and principal point. In: Proc. of Conf. on Computer Vision and Pattern Recognition, pp. 438–443 (1997)
Pollefeys, M., Koch, R., Van Gool, L.: Self-calibration and metric reconstruction in spite of varying and unknown intrinsic camera parameters. Int. J. Comput. Vis. 32(1), 7–25 (1999)
Triggs, B.: The absolute auadric. In: Proc. of Conf. on Computer Vision and Pattern Recognition, pp. 609–614 (1997)
Zisserman, A., Liebowitz, D., Armstrong, M.: Resolving ambiguities in auto-calibration. Philos. Trans. R. Soc. Lond. A 356, 1193–1211 (1998)
Fitzgibbon, A.W., Cross, G., Zisserman, A.: Automatic 3D model construction for turn-table sequences. In: SMILE ’98. LNCS, vol. 1506, pp. 155–170. Springer, Berlin (1998)
Kahl, F., Triggs, B., Aaström, K.: Critical motions for auto-calibration when some intrinsic parameters can vary. J. Math. Imaging Vis. 13(2), 1–29 (2000)
Liu, Y., Tsui, H.T., Wu, C.K.: Resolving ambiguities of self-calibration in turntable motion. In: Proc. of the 15th Int. Conf. on Pattern Recognition, pp. 865–868. IEEE (2000)
Jiang, G., Tsui, H.T., Quan, L.: Geometry of single axis motions using conic fitting. IEEE Trans. Pattern Anal. Mach. Intell. 25, 1343–1348 (2003)
Jiang, G., Tsui, H.T., Quan, L.: Circular motion geometry using minimal data. IEEE Trans. Pattern Anal. Mach. Intell. 26, 721–731 (2004)
Jiang, G., Wei, Y.C., Quan, L., Tsui, H.T., Shum, H.Y.: Outward-looking circular motion analysis of large image sequences. IEEE Trans. Pattern Anal. Mach. Intell. 27, 271–277 (2005)
Li, Y., Hung, Y.S.: Recovery of circular motion in spite of varying intrinsic parameters. In: Proc. of the IEEE Int. Conf. on Video and Signal Based Surveillance (2006)
Sullivan, S., Ronce, J.: Automatic model construction and pose estimation from photographs using triangular splines. IEEE Trans. Pattern Anal. Mach. Intell. 20, 1091–1097 (1998)
Szeliski, R.: Shape from rotation. Presented at Conf. Computer Vision and Pattern Recognition (1991)
Niem, W.: Robust and fast modeling of 3D natural objects from multiple views. In: Proc. of SPIE. Image and Video Processing II, vol. 2182, pp. 388–397 (1994)
Zhang, G., Zhang, H., Wong, K.-Y.K.: 1D camera geometry and its application to circular motion estimation. In: Proc. of British Machine Vision Conference (2006)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Li, Y., Tang, W.K. & Hung, Y.S. Stratified Self-Calibration and Metric Reconstruction for Zooming/Refocusing Circular Motion Sequences. J Math Imaging Vis 31, 105–118 (2008). https://doi.org/10.1007/s10851-008-0070-9
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10851-008-0070-9