IMPORTANT COVID-19 UPDATES

9783540652830

Calibration and Orientation of Cameras in Computer Vision

by ;
  • ISBN13:

    9783540652830

  • ISBN10:

    3540652833

  • Format: Hardcover
  • Copyright: 2001-07-01
  • Publisher: Springer-Verlag New York Inc
  • Purchase Benefits
  • Free Shipping On Orders Over $35!
    Your order must be $35 or more to qualify for free economy shipping. Bulk sales, PO's, Marketplace items, eBooks and apparel do not qualify for this offer.
  • Get Rewarded for Ordering Your Textbooks! Enroll Now
List Price: $169.99 Save up to $112.75
  • eBook
    $124.02
    Add to Cart

    DURATION
    PRICE

Supplemental Materials

What is included with this book?

Summary

This book brings together concepts and approaches from the fields of photogrammetry and computer vision. In particular, it examines techniques relating to quantitative image analysis, such as orientation, camera modelling, system calibration, self-calibration and error handling. The chapters have been contributed by experts in the relevant fields, and there are examples from automated inspection systems and other real-world cases. The book provides study material for students, researchers, developers and practitioners.

Table of Contents

Introduction
1(6)
Armin Gruen
Minimum Solutions for Orientation
7(56)
Bernhard P. Wrobel
Summary
7(1)
Introduction
7(8)
Standard Orientation Tasks of Photogrammetry and Computer Vision
15(7)
Minimum Solutions for Orientation Using Correspondent Points
22(13)
2D-2D Relative Orientation
22(7)
2D-3D Image Orientation (Space Resection)
29(4)
3D-3D Absolute Orientation
33(2)
Uniqueness Conditions of Basic Orientation Tasks
35(19)
Representation of Rotation
36(2)
The Terms Critical Configurations of First and Second Kind: a Geometrical Interpretation by Two Examples
38(3)
Uniqueness Conditions of 2D-2D Relative Orientation
41(7)
Uniqueness Conditions of 2D-3D Image Orientation (Space Resection)
48(6)
Conclusion
54(9)
References
56(7)
Generic Estimation Procedures for Orientation with Minimum and Redundant Information
63(32)
Wolfgang Forstner
Summary
63(1)
Motivation
63(2)
Problem Statement
65(3)
Error Types
66(1)
Issues in Error Handling
67(1)
Tools
68(18)
Quality Assurance
68(2)
Instabilities of Estimates or ``How Small is too Small?''
70(4)
Model Errors or ``How Sensitive is the Result?''
74(8)
Robust Estimation or ``How to React on Blunders''
82(4)
Generic Estimation Procedures
86(5)
Rules for Choosing Robust Estimation Techniques
86(3)
Integrating Robust Estimation and Diagnosis
89(2)
Conclusions
91(4)
Appendix
Algebraic Expression for the Normal Equations of Spatial Resection with Four Parts in Symmetric Position
92(2)
References
94(1)
Photogrammetric Camera Component Calibration: A Review of Analytical Techniques
95(28)
Clive S. Fraser
Summary
95(1)
Introduction
95(2)
Analytical Restitution
97(5)
Interior and Exterior Orientation
97(2)
Collinearity Equations
99(2)
The DLT
101(1)
Parameterization of Departures from Collinearity
102(10)
Sources of Perturbation
102(1)
Radial Distortion
103(2)
Decentering Distortion
105(1)
Focal Plane Unflatness
106(2)
Focal Plane Distortion
108(1)
A Practical Model for In-Plane and Out-of-Plane Effects
108(1)
Interior Orientation Elements
109(3)
Determination of Camera Calibration Parameters
112(6)
A General Photogrammetric Model
112(1)
Test-Range Calibration
113(1)
Self-Calibration
114(2)
Distortion Calibration via the Plumbline Technique
116(2)
Concluding Remarks
118(5)
References
119(4)
Least-Squares Camera Calibration Including Lens Distortion and Automatic Editing of Calibration Points
123(14)
Donald B. Gennery
Summary
123(1)
Introduction
123(1)
Definition of Camera Model
124(3)
Camera Model Without Distortion
124(1)
Inclusion of Distortion
125(2)
Partial Derivatives
127(1)
Adjustment of Camera Model
128(5)
Data for Adjustment
128(1)
Initialization
129(1)
Iterative Solution
130(3)
Use of Camera Model
133(4)
Projecting from Object Space to Image Space
133(1)
Projecting from Image Space to Object Space
134(2)
Acknowledgments
136(1)
References
136(1)
Modeling and Calibration of Variable-Parameter Camera Systems
137(26)
Reg G. Willson
Steven A. Shafer
Summary
137(1)
Abstract Camera Models
137(26)
Building Multi-Degree-of-Freedom Camera Models
138(11)
Applying MDOF Camera Models to Vision Tasks
149(6)
A General Theory of Camera Modeling and Calibration
155(5)
Acknowledgments
160(1)
Reference
161(2)
System Calibration Through Self-Calibration
163(32)
Armin Gruen
Horst A. Beyer
Summary
163(1)
Introduction
163(1)
The Concept of Self-Calibration
164(8)
The Bundle Method
164(2)
Least Squares Estimation
166(2)
Systematic Error Compensation by Self-Calibration
168(2)
Treatment of Additional Parameters
170(2)
Determinability of Self-Calibration Parameters Under Various Network Conditions
172(8)
Final System Test
180(3)
Conclusions
183(12)
Appendix
Algebraic Determinability of Additional Parameters
184(2)
Trace Check of Covariance Matrix
186(3)
Results of Computational Versions for the Determinability of Additional Parameters
189(4)
References
193(2)
Self-Calibration of a Stereo Rig from Unknown Camera Motions and Point Correspondences
195(36)
Quang-Tuan Luong
Olivier D. Faugeras
Summary
195(1)
Introduction
195(6)
The Stereo Calibration Problem
195(2)
What do we Mean by Self-Calibration
197(2)
An Outline of our Autonomous Approach
199(2)
Computing the Fundamental Matrix
201(3)
The Fundamental Matrix and the Epipolar Transformation
201(2)
A Robust Method for the Determination of the Fundamental Matrix
203(1)
Computing the Intrinsic Parameters of the Cameras
204(4)
The Principle of the Method
204(1)
Kruppa Equations Arising from an Epipolar Transformation
205(1)
Kruppa Coefficients and Intrinsic Parameters
206(1)
Solving the Kruppa Equations
207(1)
Computing the Motion of the Camera
208(5)
Two Approaches Based on the Computation of the Fundamental Matrix
208(2)
An Experimental Comparison
210(3)
Computing the Extrinsic Parameters of a Stereo Rig
213(6)
A Direct Approach: Binocular and Trinocular Stereo Rig
215(1)
An Indirect, Monocular Approach
216(3)
Experimental Results
219(7)
An Example of Calibration of a Binocular Stereo Rig
219(6)
Reconstructions from a Triplet of Uncalibrated Images Taken by a Camera
225(1)
Conclusion
226(5)
Acknowledgements
226(1)
References
227(4)
Index 231

Rewards Program

Write a Review