Paper Info
Title
An Automatic Self-Calibration Approach for Wide Baseline Stereo Cameras Using Sea Surface Images
Abstract
Stereo rig with wide baseline is necessary when accurate depth estimation for distant object is desired. However, in order to make calibration pattern to be viewed from both left and right cameras, the wider the baseline the bigger the calibration pattern is required. In contrast to the traditional stereo calibration method using calibration pattern, we propose a self-calibration approach that can estimate cameras' rotation matrices for stereo rig with wide baseline (3 m). Given images taken from left and right cameras, the relative roll and pitch angles between two cameras are recovered by aligning sea horizon in left and right images. The pitch angle is estimated by making the projections of one point at infinite distance appear at the same location in both images. A photometric minimization is applied to refine the rotation parameters. Compared with conventional checkerboard-based calibration techniques which require extra equipments or personnel, our approach only needs a pair of sea images. Moreover, unlike most self-calibration approaches, feature detection and matching are not required which makes it possible to apply our approach on featureless images. As a result, it is flexible and easy to implement our approach on sea surface images. Real world experiments demonstrate the feasibility of our approach.
Year
DOI
Venue
2015
10.1142/S230138501540004X
UNMANNED SYSTEMS
Keywords
Field
DocType
Stereo vision,stereo calibration,self-calibration
Stereo cameras,Computer vision,Rotation matrix,Pitch angle,Stereopsis,Horizon,Photometry (optics),Minification,Artificial intelligence,Geography,Calibration
Conference
Volume
Issue
ISSN
3
SP4
2301-3850
Citations 
PageRank 
References 
2
0.42
8
Authors
7
Name
Order
Citations
PageRank
Han Wang114822.31
Wei Mou2133.79
Xiaozheng Mou322.11
Shenghai Yuan4104.82
Soner Ulun520.42
Shuai Yang630.77
Bok-Suk Shin7689.27