Camera parameters include intrinsics, extrinsics, and distor... Camera calibrationPinhole Camera Model... Camera calibrationPinhole Camera Model The calibration algorithm calculates th
Trang 1XỬ LÝ ẢNH TRONG CƠ ĐIỆN
Machine Vision
TRƯỜNG ĐẠI HỌC BÁCH KHOA
Giảng viên: TS Nguyễn Thành Hùng
Đơn vị : Bộ môn Cơ điện tử , Viện Cơ
Hà Nội, 2021
Trang 2Chapter 9 Camera Calibration and 3D R
1 Camera calibration
2 Robot Camera Calibration
3 Pose estimation
4 Stereo vision
Trang 3Chapter 9 Camera Calibration and 3D R
1 Camera calibration
2 Robot Camera Calibration
3 Pose estimation
4 Stereo vision
Trang 5Camera calibration
Trang 6Camera parameters include intrinsics, extrinsics, and distor
Trang 9Camera calibration
Pinhole Camera Model
Trang 10Camera calibration
Pinhole Camera Model
The calibration algorithm calculates the camera matrix usin
The intrinsic parameters
The extrinsic parameters
Trang 12Camera calibration
Camera Calibration Parameters
Trang 14Camera calibration
Intrinsic Parameters
The intrinsic parameters include the focal length, the optic
principal point, and the skew coefficient The camera intrinsic m
The pixel skew defined :is as
Trang 15Camera calibration
Intrinsic Parameters
Trang 16not have a lens To accurately represent a real camera, the cam
and tangential lens distortion
Trang 18Camera calibration
Radial Distortion
Trang 19Camera calibration
Tangential Distortion
Trang 20Camera calibration
Tangential Distortion
Trang 21Camera calibration
Image plane
Trang 22Camera Calibration with Op
Estimate intrinsic and extrinsic camera parameters from severa
Trang 23Chapter 9 Camera Calibration and 3D R
1 Camera calibration
2 Robot Camera Calibration
3 Pose estimation
4 Stereo vision
Trang 24Robot Camera Calibrati
Trang 26Robot Camera CalibratiA
A 2
B
B 2
Trang 27Robot Camera CalibratiA
A 2
B
B 2
Trang 28Robot Camera Calibrati
Trang 30Camera Pose Estimatio
Trang 31Camera Pose Estimatio
points on the 3D model curve
(a) Reconstruct projection rays from the image points
(b) Estimate the nearest point of each projection ray to a point o(c) Estimate the pose of the contour with the use of this correspo(d) goto (b)
Trang 32Camera Pose Estimation with
Trang 35Stereo Vision
What stereo correspondence? is
Trang 37Stereo Vision
What epipolar geometry? is
Trang 38Stereo Vision
What epipolar geometry? is
Trang 40Stereo Vision
What epipolar geometry? is
Trang 42Stereo Vision
Building the 3D map
Trang 45Stereo Vision
Building the 3D map