Skip to main content
SpringerLink
Log in

Fitting a cluster of line images under central catadioptric camera

  • Published:
Cluster Computing Aims and scope Submit manuscript

Abstract

Generally, due to the partial occlusion, it is very difficult to correctly estimate the central catadioptric line image from its visible part. Except for the necessary and sufficient conditions that must be satisfied by a set of paracatadioptric line images, we find that if the antipodal points of image points on the visible arc are known, the fitting accuracy can be improved greatly. In this paper, we propose a new method for fitting line images, which can be applied to all central catadioptric projection. Firstly, a new relationship between a pair of antipodal image points and the camera principal point is derived. Next, using this relationship, a new method is proposed to estimate the line images. These estimated line images are used to calibrate camera intrinsic parameters to evaluate the performance of our fitting method. Experimental results on both simulated and real data have demonstrated the effectiveness of our method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15

Similar content being viewed by others

References

  1. Baker, S., Nayer, S.: A theory of single-viewpoint catadioptric image formation. Int. J. Comput. Vis. 35, 175–196 (1999)

    Article  Google Scholar 

  2. Geyer, C., Daniilidis, K.: Catadioptric camera calibration. In: International Conference on Computer Vision, pp. 398–404 (1999)

  3. Geyer, C., Daniilidis, K.: Catadioptric projective geometry. Int. J. Comput. Vis. 45, 223–243 (2001)

    Article  MATH  Google Scholar 

  4. Duan, H.X., Wu, Y.H.: Unified imaging of geometric entities under catadioptric camera and camera calibration. J. Comput. Aided Des. Comput. Graph. 23, 891–898 (2011)

    Google Scholar 

  5. Geyer, C., Daniilidis, K.: Paracatadioptric camera calibration. IEEE Trans. Pattern Anal. Mach. Intell. 24, 687–695 (2002)

    Article  Google Scholar 

  6. Barreto, J.P., Araujo, H.: Geometry properties of central catadioptric line images and application in calibration. IEEE Trans. Pattern Anal. Mach. Intell. 27, 1327–1333 (2005)

    Article  Google Scholar 

  7. Deng, X.M., Wu, F.C., Wu, Y.H.: An easy calibration method for central catadioptric cameras. Acta Automation Sin. 33, 801–808 (2007)

    Article  Google Scholar 

  8. Duan, F.Q., Wang, L.: Calibrating central catadioptric cameras based on spatial line projection constraint. In: International Conference on Systems, Man and Cybernetics, pp. 2088–2093 (2010)

  9. Duan, H.X., Wu, Y.H.: Paracatadioptric camera calibration using sphere images. In: International Conference on Image Processing, pp. 649–652 (2011)

  10. Duan, H.X., Wu, Y.H.: A calibration method for paracatadioptric camera from sphere images. Pattern Recognit. Lett. 33, 677–684 (2012)

    Article  Google Scholar 

  11. Vandeportaele, B., Cattoen, M., Marthon, P., Gurdjo, P.: A New linear calibration method for paracatadioptric cameras. In: International Conference on Pattern Recognition, pp. 647–651 (2006)

  12. Wu, F.C., Duan, F.Q., Hu, Z.Y., Wu, Y.H.: A new linear algorithm for calibrating central catadioptric cameras. Pattern Recognit. 41, 3166–3172 (2008)

    Article  Google Scholar 

  13. Ying, X.H., Hu, Z.Y.: Catadioptric camera calibration using geometric invariants. IEEE Trans. Pattern Anal. Mach. Intell. 26, 1260–1271 (2004)

    Article  Google Scholar 

  14. Ying, X.H., Zha, H.B.: Simultaneously calibrating catadioptric camera and detecting line features using hough transform. In: International Conference on Intelligent Robots and Systems, pp. 412–417 (2005)

  15. Duan, H.X., Mei, L., Shang, Y.F., Hu, C.P.: Calibrating focal length for paracatadioptric camera from one circle image. In: International Conference on Computer Vision Theory and Application, pp. 56–63 (2014)

  16. Barreto, J.P., Araujo, H.: Fitting conics to paracatadioptric projection of lines. Comput. Vis. Image Underst. 101, 151–165 (2006)

    Article  Google Scholar 

  17. Zhang, Z.Y.: Parameter estimation techniques: a tutorial with application to conic fitting. Image Vis. Comput. 15, 59–76 (1997)

    Article  Google Scholar 

  18. Wu, Y.H., Li, Y.F., Hu, Z.Y.: Easy calibration for para-catadioptric-like camera. In: International Conference on Intelligent Robots and Systems, pp. 5719–5724 (2006)

Download references

Acknowledgements

This work is sponsored by the National Natural Science Foundation of China (61632003, 61403084, 61402116); by the Project of the Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University(ESSCKF 2015-03); and by the Shanghai Rising-Star Program (17QB1401000); and by the Application Innovation Plan of Ministry of Public Security (2017YYCXSXST030); and by the Special Funds for the Basic R&D Business Expenses of the Central Level Public Welfare Scientific Research Institutions(C17348)“The Construction of Standard Video Dataset and Intelligent Video Evaluation Platform”.

Author information

Authors and Affiliations

  1. Cyber Physical System R & D Center, The Third Research Institute of Ministry of Public Security, Shanghai, China

    Huixian Duan, Lei Song, Jun Wang & Na Liu

  2. Shanghai International Technology & Trade United Co., Ltd, Shanghai, China

    Huixian Duan

  3. National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China

    Yihong Wu

Authors
  1. Huixian Duan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yihong Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Lei Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jun Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Na Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yihong Wu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Duan, H., Wu, Y., Song, L. et al. Fitting a cluster of line images under central catadioptric camera. Cluster Comput 22 (Suppl 1), 781–793 (2019). https://doi.org/10.1007/s10586-017-1302-9

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10586-017-1302-9

Keywords

Search

Navigation