Calibration of a dual-PTZ-camera system for stereo vision based on parallel particle swarm optimization method

Yau-Zen Chang; Huai-Ming Wang; Shih-Tseng Lee M.D.; Chieh-Tsai Wu M.D.; Ming-Hsi Hsu

doi:10.1117/12.2041039

25 February 2014 Calibration of a dual-PTZ-camera system for stereo vision based on parallel particle swarm optimization method

Yau-Zen Chang, Huai-Ming Wang, Shih-Tseng Lee M.D., Chieh-Tsai Wu M.D., Ming-Hsi Hsu

Author Affiliations +

Proceedings Volume 9019, Image Processing: Algorithms and Systems XII; 90190C (2014) https://doi.org/10.1117/12.2041039
Event: IS&T/SPIE Electronic Imaging, 2014, San Francisco, California, United States

Abstract

This work investigates the calibration of a stereo vision system based on two PTZ (Pan-Tilt-Zoom) cameras. As the accuracy of the system depends not only on intrinsic parameters, but also on the geometric relationships between rotation axes of the cameras, the major concern is the development of an effective and systematic way to obtain these relationships. We derived a complete geometric model of the dual-PTZ-camera system and proposed a calibration procedure for the intrinsic and external parameters of the model. The calibration method is based on Zhang’s approach using an augmented checkerboard composed of eight small checkerboards, and is formulated as an optimization problem to be solved by an improved particle swarm optimization (PSO) method. Two Sony EVI-D70 PTZ cameras were used for the experiments. The root-mean-square errors (RMSE) of corner distances in the horizontal and vertical direction are 0.192 mm and 0.115 mm, respectively. The RMSE of overlapped points between the small checkerboards is 1.3958 mm.

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Yau-Zen Chang, Huai-Ming Wang, Shih-Tseng Lee M.D., Chieh-Tsai Wu M.D., and Ming-Hsi Hsu "Calibration of a dual-PTZ-camera system for stereo vision based on parallel particle swarm optimization method", Proc. SPIE 9019, Image Processing: Algorithms and Systems XII, 90190C (25 February 2014); https://doi.org/10.1117/12.2041039

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