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1

Robust geometric, phase and colour structured light projection system calibration

Szelag K., Maczkowski G., Gierwialo R., Gebarska A., Sitnik R.

Opto-Electronics Review

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2017

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Vol. 25, No. 4

326--336

EN

This paper introduces a new comprehensive procedure for both geometric and colour calibration of structured light system. In order to perform both geometric and colour calibration procedure, a new calibration artifact is proposed. The intrinsic and extrinsic parameters of projector and camera are estimated by using an extended pinhole camera model with a tangential and radial distortion. Camera image plane coordinates are obtained by extracting features from images of a calibration artifact. Projector image plane coordinates are calculated on the basis of continuous phase maps obtained from a fringe pattern phase reconstruction procedure. In order to stereo calibrate camera-projector system, pairs of corresponding image plane points are calculated with subpixel accuracy. In addition, one of three pattern views is used in colour calibration. RGB values of a colour field pattern detected by camera and their reference values are compared. This comparison leads to derivation of a colour transformation matrix. The performance of the proposed method is tested by measuring plane, sphere and distance reference. Also 360 degrees complex object 3D model from a set of measurements is obtained. Residual mean errors for all tests performed are calculated.

2

Badania nad wpływem rozmieszczenia fotopunktów na jakość kalibracji obrazu QuickBird 2 metodą fizycznego modelu sensora

Zdunek Z., Wyczałek I.

Archiwum Fotogrametrii, Kartografii i Teledetekcji

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2006

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Vol. 16

597--607

PL

Przedmiotem pracy jest analiza wpływu osnowy fotogrametrycznej na dokładność kalibracji fragmentu sceny wysokorozdzielczego zobrazowania satelitarnego metodą fizycznego modelu kamery. Analizowano, czy wyniki ortorektyfikacji poprzedzonej kalibracją obrazu zależą od konfiguracji fotopunktów. Obiektem badań był obszar 5×5 km w centrum Poznania, o deniwelacjach nie przekraczających 30 m. Wykorzystano obraz QuickBird 2 o doskonałej jakości radiometrycznej, zapisany w formacie Standard OrthoReady. Dobrano kontrastujące z otoczeniem fotopunkty w równomiernym rozkładzie 4 linie po 4 punkty. W pobliżu fotopunktów zlokalizowano po 1-3 punktów kontrolnych. Wszystkie punkty pomierzono techniką GPS-RTK z błędem m p = ±24 mm i m H = ±45 mm. Równomiernemu rozkładowi fotopunktów przeciwstawiono pięć przypadków rozmieszczenia niesymetrycznego. Wyniki kolejnych wyrównań w przyjętych fotopunktach w zasadzie nie różnią się od przypadku wzorcowego, natomiast znacznie wzrastają na punktach kontrolnych, osiągając w kolejnych niekorzystnych konfiguracjach nawet 20-krotnie większe wartości. Z analizy wyników badań wywnioskowano potrzebę doboru nawet minimalnej liczby 8 fotopunktów, ale równomiernie rozmieszczonych na obrzeżu opracowywanego fragmentu sceny, aby uzyskać podpikselowe dokładności ortofotomapy nawet, gdy ten fragment leży z boku sceny.

EN

The subject of this paper is an analysis of the influence of a photogrammetric reference net on the accuracy of the calibration of very high resolution satellite imagery using a rigorous sensor model. It was studied whether the results of orthorectification preceded by image calibration depend on configuration of Ground Control Points. The test field was an area of 5×5 km of central Poznan with level differences of less than 30 m. An OrthoReady QuickBird 2 image with excellent radiometric quality was used. The GCPs (contrasted with the surroundings and distributed into 4 lines by 4 points) were selected. 1-3 Check Points were placed near of each of them. All points were measured with the GPS\RTK method with a horizontal mean error m p =±24 mm and vertical error m H =±45 mm. Against the regular distribution of points, five irregular ones were set off. The first three cases are rather untypical and concern the distribution of GCP’s diagonally (1), at the edge (2) and along vertical axis of the image (3). In cases 4 and 5, the points are randomly scattered in the image. The results of consecutive adjustments in the given GCPs did not differ from the model case, but significantly increased at the Check Points – achieving up to 20-times greater values in consecutive configurations. From the analyses of results, a need was determined to select even a minimum number of 8 GCPs, but regularly distributed on the peripheries of the treated part of the scene to achieve subpixel accuracy of the orthophotomap, even if this part lies at the side of the scene.

3

Identifiable parameters for the geometric calibration of parallel robots

Khalil W., Besnard S.

Archives of Control Sciences

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2001

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Vol. 11, no. 3/4

263-277

EN

This paper presents a general method for the determination of the identifiable parameters for the geometric calibration of parallel robots. The special case of Stewart-Gough 6 degrees-of-freedom robot is considered in this paper. But this method can be applied for the other structures of parallel robots. The identifiable parameters of various calibration methods are given. Once the identifiable parameters are determined, we can deduce the corresponding physical identification. The method is based on QR decomposition of the observation matrix of the calibration equations. The proposed algorithm can also provide the grouping relations of the non-identifiable parameters with the identifiable parameters.