CSDL Home IEEE Transactions on Pattern Analysis & Machine Intelligence 2013 vol.35 Issue No.05 - May

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Issue No.05 - May (2013 vol.35)

pp: 1206-1220

Xianghua Ying , Key Lab. of Machine Perception (Minist. of Educ.), Peking Univ., Beijing, China

Kun Peng , Dept. of Comput. Sci., Univ. of North Carolina, Chapel Hill, NC, USA

Yongbo Hou , Key Lab. of Machine Perception (Minist. of Educ.), Peking Univ., Beijing, China

Sheng Guan , Key Lab. of Machine Perception (Minist. of Educ.), Peking Univ., Beijing, China

Jing Kong , Key Lab. of Machine Perception (Minist. of Educ.), Peking Univ., Beijing, China

Hongbin Zha , Key Lab. of Machine Perception (Minist. of Educ.), Peking Univ., Beijing, China

ABSTRACT

If an object is interreflected between two planar mirrors, we may take an image containing both the object and its multiple reflections, i.e., simultaneously imaging multiple views of an object by a single pinhole camera. This paper emphasizes the problem of recovering both the intrinsic and extrinsic parameters of the camera using multiple silhouettes from one single image. View pairs among views in a single image can be divided into two kinds by the relationship between the two views in the pair: reflected by some mirror (real or virtual) and in a circular motion. Epipoles in the first kind of pairs can be easily determined from intersections of common tangent lines of silhouettes. Based on the projective properties of these epipoles, efficient methods are proposed to recover both the imaged circular points and the included angle between two mirrors. Epipoles in the second kind of pairs can be recovered simultaneously with the projection of intersection line between two mirrors by solving a simple 1D optimization problem using the consistency constraint of epipolar tangent lines. Fundamental matrices among views in a single image are all recovered. Using the estimated intrinsic and extrinsic parameters of the camera, a euclidean reconstruction can be obtained. Experiments validate the proposed approach.

INDEX TERMS

Cameras, Mirrors, Reflection, Vectors, Calibration, Transmission line matrix methods, Geometry, planar mirrors, Self-calibration, circular points, silhouettes, catadioptric camera

CITATION

Xianghua Ying, Kun Peng, Yongbo Hou, Sheng Guan, Jing Kong, Hongbin Zha, "Self-Calibration of Catadioptric Camera with Two Planar Mirrors from Silhouettes",

*IEEE Transactions on Pattern Analysis & Machine Intelligence*, vol.35, no. 5, pp. 1206-1220, May 2013, doi:10.1109/TPAMI.2012.195REFERENCES