Camera with dynamic calibration and method thereof
AssigneeIndustrial Technology Research Institute
InventorsHsiang-Wen Hsieh, Hung-Hsiu Yu, Wei-Han Wang, Chin-Chia Wu
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Abstract
A camera with dynamic calibration and a method thereof is provided. The camera is first subject to an initial calibration. Then, a motion amount of the camera is calculated, and a plurality of motion amount estimation samples of the camera is generated according to the motion amount. Then, a weight of each of the motion amount estimation samples is calculated. Thereafter, the plurality of motion amount estimation samples is re-sampled based on the weights, and the camera is calibrated by the re-sampled estimated motion samples.
Claims11
A dynamic calibration method of a camera, wherein the camera applies a point light source, the calibration method of the camera comprising:
- performing an initial calibration to the camera;
- projecting light to an external environment by the point light source to generate a light spot and recording a position of the light spot as a world coordinate, and obtaining a first light spot image of the light spot by the camera and recording a position of the first light spot image as a first image coordinate;
- calculating a motion amount of the camera to generate a plurality of motion amount estimation samples when the camera is moved;
- imaging the light spot by the moved camera and obtaining a second image coordinate of a second light spot image of the light spot in cast that the point light source is not moved;
- performing a dynamic calibration procedure according to the motion amount estimation samples and the second image coordinate;
- and
- generating an optimal calibration parameter estimation result according to the dynamic calibration procedure,
- wherein the dynamic calibration procedure further comprises:
- a predicting procedure, generating the motion amount estimation samples according to the first light spot image and the motion amount of the camera;
- an updating procedure, respectively assigning a weight to each of the motion amount estimation samples, so as to update the motion amount estimation samples;
- and
- a re-sampling procedure, re-sampling the plurality of motion amount estimation samples according to the updated motion amount estimation samples.
A dynamic calibration method of a camera, comprising:
- performing an initial calibration to the camera;
- calculating a motion amount of the camera;
- generating a plurality of motion amount estimation samples of the camera according to the motion amount;
- calculating a weight of each of the motion amount estimation samples;
- updating the motion amount estimation samples according to the weights, and re-sampling a plurality of motion amount estimation samples;
- and
- calibrating the camera according to the re-sampled motion amount estimation samples.
A camera with dynamic calibration, comprising:
- a visual sensing unit, sensing a light spot formed by a point light source to form an image light spot, and controlling a motion of the camera;
- a camera calibration parameter estimation unit, generating a plurality of motion amount estimation samples according to the point light source, the image light spot and a motion amount of the camera, so as to perform a dynamic calibration procedure;
- and
- a spatial coordinate conversion unit, converting a world coordinate of the light spot and an image coordinate of the image light spot, wherein a position of the light spot is recorded, and the camera obtains a first light spot image of the light spot, and records a position of the first light spot image as a first image coordinate;
- when the camera is moved, the motion amount of the camera is calculated to generate the motion amount estimation samples;
- in case that the point light source is not moved, the moved camera images the light spot and obtains a second image coordinate of a second light spot image of the light spot;
- the dynamic calibration procedure is performed according to the motion amount estimation samples and the second image coordinate;
- and
- an optimal calibration parameter estimation result is generated according to the dynamic calibration procedure.
Dependencies are inferred from the claim text.