Automatic Calibration and Reconstruction for Active Vision Systems

Chapter 1 Introduction.-  1.1 Vision Framework.-  1.2 Background.-  1.2.1 Calibrated Reconstruction.-  1.2.1.1 Static Calibration based methods.-  1.2.1.2 Dynamic Calibration based methods.-  1.2.1.3 Relative Pose Problem.-  1.2.2 Uncalibrated 3D reconstruction.-  1.2.2.1 Factorization-based method.-  1.2.2.2 Stratification-based method.-  1.2.2.3 Using Structured Light System.-  1.3 Scope.-  1.3.1 System Calibration.-  1.3.2 Plane-based Homography.-  1.3.3 Structured Light System.-  1.3.4 Omni-directional Vision System.-  1.4 Objectives.-  1.5 Book Structures.-  Chapter 2 System Description.-  2.1 System Introduction.-  2.1.1 Structured Light System.-  2.1.2 Omni-directional Vision System.-  2.2 Component Modeling.-  2.2.1 Convex Mirror.-  2.2.2 Camera Model.-  2.2.3 Projector Model.-  2.3 Pattern Coding Strategy.-  2.3.1 Introduction.-  2.3.2 Color-Encoded Light Pattern.-  2.3.3 Decoding the Light Pattern.-  2.4 Some Preliminaries.-  2.4.1 Notations and Definitions.-  2.4.2 Cross Ratio.-  2.4.3 Plane-based Homography.-  2.4.4 Fundamental Matrix.-  Chapter 3 Static Calibration.-  3.1 Calibration Theory.-  3.2 Polygon-based Calibration.-  3.2.1 Design of the planar pattern.-  3.2.2 Solving the vanishing line.-  3.2.3 Solving the projection of a circle.-  3.2.4 Solving the projection of circular point.-  3.2.5 Algorithm.-  3.2.6 Discussion.-  3.3 Intersectant-Circle-based Calibration.-  3.3.1 Planar Pattern Design.-  3.3.2 Solution for the circular point.-  3.4 Concentric-Circle-based Calibration.-  3.4.1 Some Preliminaries.-  3.4.2 The polynomial eigenvalue problem.-  3.4.3 Orthogonality-based Algorithm.-  3.4.4 Experiments.-  3.4.4.1 Numerical Simulations.-  3.4.4.2 Real Image Experiment.-  3.5 Line-based Distortion Correction.-  3.5.1 The distortion model.-  3.5.2 The correction procedure.-  3.5.3 Examples.-  3.6 Summary.-  Chapter 4 Homography-based Dynamic Calibration.-  4.1 Problem Statement.- 4.2 System Constraints.-  4.2.1 Two Propositions.-  4.3 Calibration Algorithm.-  4.3.1 Solution for the Scale Factor.-  4.3.2 Solutions for the Translation Vector.-  4.3.3 Solution for Rotation Matrix.-  4.3.4 Implementation Procedure.-  4.4 Error Analyses.-  4.4.1 Errors in the Homographic matrix.-  4.4.2 Errors in the translation vector.-  4.4.3 Errors in the rotation matrix.-  4.5 Experiments Study.-  4.5.1 Computer Simulation.-  4.5.2 Real Data Experiment.-  4.6 Summary.-  Chapter 5 3D Reconstruction with Image-to-World Transformation.-  5.1 Introduction.-  5.2 Image-to-World Transformation matrix.-  5.3 Two-Known-Plane based method.-  5.3.1 Static Calibration.-  5.3.2 Determining the on-line Homography.-  5.3.3 Euclidean 3D Reconstruction.-  5.3.4 Configuration of the two scene planes.-  5.3.5 Computational Complexity Study.-  5.3.6 Reconstruction Examples.-  5.4 One-Known-Plane based method.-  5.4.1 Calibration Tasks.-  5.4.2 Generic Homography.-  5.4.3 Dynamic Calibration.-  5.4.4 Reconstruction Procedure.-  5.4.5. Reconstruction Examples.-  5.5 Summary.-  Chapter 6 Catadioptric Vision System.-  6.1 Introduction.-  6.1.1 Wide Field-of-View System.-  6.1.2 Calibration of Omni-directional Vision System.-  6.1.3 Test Example.-  6.2 Panoramic Stereoscopic System.-  6.2.1 System Configuration.-  6.2.2 Co-axis Installation.-  6.2.3 System Model.-  6.2.4 Epipolar geometry and 3D reconstruction.-  6.2.5 Calibration Procedure.-  6.2.5.1 Initialization of the Parameters.-  6.2.5.2 Non-linear optimization.-  6.3 Parabolic Camera System.-  6.3.1 System Configuration.-  6.3.2 System Modeling.-  6.3.3 Calibration with Lifted-Fundamental-matrix.-  6.3.3.1 The lifted fundamental matrix.-  6.3.3.2 Calibration Procedure.-  6.3.3.3 Simplified Case.-  6.3.3.4 Discussion.-  6.3.4 Calibration Based on Homographic matrix.-  6.3.4.1 Plane-to-mirror Homography.-  6.3.4.2 Calibration Procedure.-  6.3.4.3 Calibration Test.- 6.3.5 Polynomial Eigenvalue Problem.-  6.3.5.1 Mirror-to-mirror Homography.-  6.3.5.2 Constraints and Solutions.-  6.3.5.3 Test Example.-  6.4 Hyperbolic Camera System.-  6.4.1 System Structure.-  6.4.2 Imaging Process and Back Projection.-  6.4.3 Polynomial Eigenvalue Problem.-  6.5 Summary.-  Chapter 7 Conclusions and Future Expectation.-  7.1 Conclusions.-  7.2 Future Expectations.-  References.