计算机视觉系统中立体摄像机标定误差估计的软件包

A.Ye. Vitiuk, A. Doroshenko
{"title":"计算机视觉系统中立体摄像机标定误差估计的软件包","authors":"A.Ye. Vitiuk, A. Doroshenko","doi":"10.15407/pp2022.03-04.469","DOIUrl":null,"url":null,"abstract":"The approach for accuracy assessment of the object model a for the problem of stable grasping in the combined system of the proposal of grasping and the reconstruction of the three-dimensional model of the object was considered. Such a combined system allows stable capture of objects of any shape without restrictions on the types of shapes in the training data set. Novel approaches to surface reconstruction of the object are based on restoring the depth of points from a pair of images from two cameras. The quality of the 3D reconstruction is affected by several factors: the movement of the camera and environmental objects, spatial quantization of the image coordinates, correspondence of key points, camera calibration parameters, unaccounted camera distortions, as well as numerical and statistical properties of the selected reconstruction method. Camera parameter errors can be minimized by improving the calibration procedure, so the impact of errors on the quality of the 3D model was investigated. The deviation of the model from the plane is chosen as a metric for quality assessment. For its calculation, the point cloud is processed by plane identification and segmentation, for which an algorithm based on the RANSAC method is considered. The software package for accuracy estimation was developed. An experiment was conducted to obtain the dependence of the accuracy of the reconstructed planes on the errors of the camera parameters. The impact of calibration errors on 3D reconstruction was evaluated by comparing metrics for individual planes at different levels of artificial error and evaluating the impact of the error on these metrics. Modeling the error of the camera calibration parameters with a given noise level shows that the calibration parameters deteriorate as the noise level increases. In particular, it was established that an increase in error contributes to an increase in the error of estimation of calibration parameters. In addition, orientation parameters (rotation and translation) are more complex and therefore more sensitive to measurement noise than other parameters.","PeriodicalId":313885,"journal":{"name":"PROBLEMS IN PROGRAMMING","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Software package for estimation of the stereo camera calibration error in the computer vision system\",\"authors\":\"A.Ye. Vitiuk, A. Doroshenko\",\"doi\":\"10.15407/pp2022.03-04.469\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The approach for accuracy assessment of the object model a for the problem of stable grasping in the combined system of the proposal of grasping and the reconstruction of the three-dimensional model of the object was considered. Such a combined system allows stable capture of objects of any shape without restrictions on the types of shapes in the training data set. Novel approaches to surface reconstruction of the object are based on restoring the depth of points from a pair of images from two cameras. The quality of the 3D reconstruction is affected by several factors: the movement of the camera and environmental objects, spatial quantization of the image coordinates, correspondence of key points, camera calibration parameters, unaccounted camera distortions, as well as numerical and statistical properties of the selected reconstruction method. Camera parameter errors can be minimized by improving the calibration procedure, so the impact of errors on the quality of the 3D model was investigated. The deviation of the model from the plane is chosen as a metric for quality assessment. For its calculation, the point cloud is processed by plane identification and segmentation, for which an algorithm based on the RANSAC method is considered. The software package for accuracy estimation was developed. An experiment was conducted to obtain the dependence of the accuracy of the reconstructed planes on the errors of the camera parameters. The impact of calibration errors on 3D reconstruction was evaluated by comparing metrics for individual planes at different levels of artificial error and evaluating the impact of the error on these metrics. Modeling the error of the camera calibration parameters with a given noise level shows that the calibration parameters deteriorate as the noise level increases. In particular, it was established that an increase in error contributes to an increase in the error of estimation of calibration parameters. In addition, orientation parameters (rotation and translation) are more complex and therefore more sensitive to measurement noise than other parameters.\",\"PeriodicalId\":313885,\"journal\":{\"name\":\"PROBLEMS IN PROGRAMMING\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"PROBLEMS IN PROGRAMMING\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.15407/pp2022.03-04.469\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"PROBLEMS IN PROGRAMMING","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.15407/pp2022.03-04.469","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

针对稳定抓取问题,研究了在抓取提议与物体三维模型重建相结合的系统中,物体模型a的精度评估方法。这样的组合系统可以稳定地捕获任何形状的物体,而不受训练数据集中形状类型的限制。物体表面重建的新方法是基于从两台相机的一对图像中恢复点的深度。三维重建的质量受以下几个因素的影响:相机和环境物体的运动、图像坐标的空间量化、关键点的对应性、相机校准参数、未考虑的相机畸变以及所选重建方法的数值和统计特性。通过改进标定程序,可以使相机参数误差最小化,因此研究了误差对三维模型质量的影响。选择模型与平面的偏差作为质量评估的度量。点云的计算采用平面识别和分割的方法,并考虑了基于RANSAC方法的点云分割算法。开发了精度估计软件包。通过实验得到了重建平面的精度与相机参数误差的关系。通过比较不同人为误差水平下单个平面的指标,并评估误差对这些指标的影响,评估校准误差对3D重建的影响。对给定噪声水平下摄像机标定参数的误差建模表明,标定参数随着噪声水平的增加而恶化。特别是,误差的增加会导致校准参数估计误差的增加。此外,取向参数(旋转和平移)更复杂,因此对测量噪声比其他参数更敏感。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Software package for estimation of the stereo camera calibration error in the computer vision system
The approach for accuracy assessment of the object model a for the problem of stable grasping in the combined system of the proposal of grasping and the reconstruction of the three-dimensional model of the object was considered. Such a combined system allows stable capture of objects of any shape without restrictions on the types of shapes in the training data set. Novel approaches to surface reconstruction of the object are based on restoring the depth of points from a pair of images from two cameras. The quality of the 3D reconstruction is affected by several factors: the movement of the camera and environmental objects, spatial quantization of the image coordinates, correspondence of key points, camera calibration parameters, unaccounted camera distortions, as well as numerical and statistical properties of the selected reconstruction method. Camera parameter errors can be minimized by improving the calibration procedure, so the impact of errors on the quality of the 3D model was investigated. The deviation of the model from the plane is chosen as a metric for quality assessment. For its calculation, the point cloud is processed by plane identification and segmentation, for which an algorithm based on the RANSAC method is considered. The software package for accuracy estimation was developed. An experiment was conducted to obtain the dependence of the accuracy of the reconstructed planes on the errors of the camera parameters. The impact of calibration errors on 3D reconstruction was evaluated by comparing metrics for individual planes at different levels of artificial error and evaluating the impact of the error on these metrics. Modeling the error of the camera calibration parameters with a given noise level shows that the calibration parameters deteriorate as the noise level increases. In particular, it was established that an increase in error contributes to an increase in the error of estimation of calibration parameters. In addition, orientation parameters (rotation and translation) are more complex and therefore more sensitive to measurement noise than other parameters.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信