Hand-eye and radial distortion calibration for rigid endoscopes
Hand-eye and radial distortion calibration for rigid endoscopes
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DOI：
10.1002/rcs.1478
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发表时间：
2013-12-01
影响因子：
2.5
通讯作者：
Barreto, Joao Pedro
中科院分区：
文献类型：
--
作者：
Malti, Abed;Barreto, Joao Pedro
背景在本文中，我们提出了一种针对配备有径向畸变相机的手眼系统作为硬性内窥镜的非线性标定方法。经典方法提出了对相机本征和手眼变换进行单独估计，或者假设针孔模型对手眼和相机本征进行混合非线性估计，而所提出的方法可以同时细化手眼和相机参数，包括仅使用三帧校准图案的失真因子。方法我们的方法依赖于三个步骤：（i）线性初始估计 以最少帧数计算手眼和径向畸变：一张图像估计径向畸变，三帧估计初始手眼变换，（ii）我们建议表达相机外在手眼和世界网格变换，（iii）我们对畸变参数、相机内在和手眼变换的重投影误差进行捆绑调整。结果我们的方法是 与最先进的线性和非线性方法进行定量比较。我们表明，我们的方法提供的 3D 重建误差约为 3D 形状尺寸的 5%。结论我们的实验结果表明，同时估计手眼参数和畸变参数以进行 3D 重建的有效性。版权所有 (c) 2013 John Wiley & Sons, Ltd.
BackgroundIn this paper, we propose a non-linear calibration method for hand-eye system equipped with a camera undergoing radial distortion as the rigid endoscope. Whereas classic methods propose either a separated estimation of the camera intrinsics and the hand-eye transform or a mixed non-linear estimation of both hand-eye and camera intrinsics assuming a pin-hole model, the proposed approach enables a simultaneous refinement of the hand-eye and the camera parameters including the distortion factor with only three frames of the calibrated pattern.MethodsOur approach relies on three steps: (i) linear initial estimates of hand-eye and radial distortion with minimum number of frames: one single image to estimate the radial distortion and three frames to estimate the initial hand-eye transform, (ii) we propose to express the camera extrinsic with respect to hand-eye and world-grid transforms and (iii) we run bundle adjustment on the reprojection error with respect to the distortion parameters, the camera intrinsics and the hand-eye transform.ResultsOur method is quantitatively compared with state-of-the-art linear and non-linear methods. We show that our method provides a 3D reconstruction error of approximately 5% of the size of the 3D shape.ConclusionsOur experimental results show the effectiveness of simultaneously estimating hand-eye and distortion parameters for 3D reconstruction. Copyright (c) 2013 John Wiley & Sons, Ltd.