METHOD AND DEVICE FOR RESTORING MOVEMENT OF CAMERA VIEWPOINT AND THREE-DIMENSIONAL INFORMATION AND ESTIMATING LENS DISTORTION PARAMETER, AND PROGRAM FOR RESTORING MOVEMENT OF CAMERA VIEWPOINT AND THREE-DIMENSIONAL INFORMATION AND ESTIMATING LENS DISTORTION PARAMETER

摘要

PROBLEM TO BE SOLVED: To dispense with already known information related to a photographic target or a special device for camera calibration, and to easily restore camera movement, three-dimensional shape and a lens distortion parameter.;SOLUTION: An asymptotic matrix [B] with coordinate values (u_ij, v_ij) as an element is generated to image coordinate values obtained by tracking and observing a characteristic point inside a time series image by use of a provisional lens distortion coefficient. Matrix data [U'] , [V'] on movement information and three-dimensional information, and a conversion matrix [Q] satisfying a setting condition prescribing the camera movement are found from [B]. Each piece of the information is restored on the basis thereof, the lens distortion coefficient is estimated on the basis thereof, and stabilizing processing for the lens distortion parameter to set a reprojection error of a plane movement projection value based thereon to be not more than an allowable value and stabilizing processing for the camera movement to set a reprojection error of the plane movement projection value based on the camera movement to be not more than an allowable value are alternately changed over and repeatedly executed.;COPYRIGHT: (C)2007,JPO&INPIT