US20050071105A1 - Method and system for calibrating relative fields of view of multiple cameras - Google Patents
Method and system for calibrating relative fields of view of multiple cameras Download PDFInfo
- Publication number
- US20050071105A1 US20050071105A1 US10/674,486 US67448603A US2005071105A1 US 20050071105 A1 US20050071105 A1 US 20050071105A1 US 67448603 A US67448603 A US 67448603A US 2005071105 A1 US2005071105 A1 US 2005071105A1
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- Prior art keywords
- camera
- light
- view
- point
- field
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19639—Details of the system layout
- G08B13/19645—Multiple cameras, each having view on one of a plurality of scenes, e.g. multiple cameras for multi-room surveillance or for tracking an object by view hand-over
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
Abstract
Description
- The present disclosure relates generally a method and system of calibrating cameras. More particularly, the present disclosure relates to a method and system of calibrating cameras having non-overlapping fields of view.
- Multiple cameras are calibrated to allow a large space to be observed. Such an area may be a room that is under surveillance for security purposes. These cameras are often connected to several monitors to be viewed by a security professional in a single location.
- Historically, determining the position and orientation of multiple cameras relative to each other has been a difficult and inaccurate procedure. The process required placing an object, such as a person, in a common field of view of two cameras. However, the irregularly shaped object and common field of view, or overlap, constrained the accuracy and limited the breadth of the surveillance system.
- Accordingly, there is a continuing need to calibrate cameras that do not have overlapping fields of view to eliminate one or more of the aforementioned and other drawbacks and deficiencies of prior calibration surveillance systems and methods.
- A method for calibrating cameras is provided. The method includes a moving a point of light on a first flat surface. A first and a second camera are provided to generate a first frame of the point of light and a second frame of the point of light. The respective points of light are in a first field of view and a second field of view of the first and the second cameras. The method includes determining a relative position between the first and second camera based in part of the first and second frames.
- A method for calibrating cameras is provided. The method includes moving a point of light. The method also includes generating a first frame when the point of light is in a first field of view of the first camera and generating a second frame when the point of light is in a second field of view of a second camera; the first and the second field of view need not overlap. The method further includes capturing data including the times of the first and second frames. The method further includes determining a relative position between the first and the second cameras based at least in part of the first and the second times.
- A system for camera calibration is provided. The system includes a light source generating a point of light on a flat surface. The system further provides means for moving the point of light through a predefined path, such that the path is definable through a field of view of the first and second cameras. The system further comprises a controller connectable to the first and second cameras so that the controller can capture a first frame from said first camera when said predefined path is within a first field of view and a second frame from said second camera when said predefined path is within second field of view. The system further includes a controller configured to determine an angle of the first camera with respect to the second camera based at least in part on the first and second frames.
- The above-described and other features and advantages of the present disclosure will be appreciated and understood by those skilled in the art from the following detailed description, drawings, and appended claims.
-
FIG. 1 a top view of a camera calibration system; -
FIG. 2 is a side view of a light source ofFIG. 1 ; -
FIGS. 3 through 7 are frames of a field of view of a first surveillance camera; -
FIGS. 8 through 12 are frames of a field of view of a second surveillance camera; -
FIGS. 13 through 17 are frames of a field of view of a third surveillance camera; -
FIG. 18 is a side view of a second embodiment of the light source; -
FIG. 19 is a top view of a camera calibration system using a second embodiment of the light source; -
FIGS. 20 through 22 are frames of fields of view using a second embodiment of the light source; and -
FIG. 23 is a second embodiment of the calibration system having a monitor. - Referring now to the drawings and in particular to
FIG. 1 , an exemplary embodiment of a camera calibration system generally referred to byreference numeral 10 is illustrated. For the purposes of this invention, calibration means the orientation and/or position of cameras.System 10 has very few components configured to calibrate cameras observingflat surface 20.System 10 has alight source 15 to project a point oflight 70 through a known trajectory such as acircle 65 and acontroller 25 to collect data, coordinate multiple cameras and to compute relative camera positions.System 10 can calibrate numerous cameras; however, for purposes of illustration, threesurveillance cameras camera view flat surface 20. - Referring now to the drawing of
FIG. 2 , a side view of alight source 15 is shown.Light source 15, is capable of projecting point oflight 70 onflat surface 20. Point oflight 70 could be from any light source; however, the most accurate calculations will be achieved by using a light source capable of producing a focussed point onsurface 20. Further,light source 15 projects point oflight 70 throughcircle 65, a mathematically describable trajectory.Light source 15, is moved by a rotating device; however, any other device such as an oscillating device, could be used if it projects point oflight 70 in a mathematically describable trajectory. In the exemplary embodiment ofFIG. 1 ,light source 15 is configured to move at a constant rate of 5 RPM andcontroller 25 is configured to operatecameras - Referring to
FIG. 1 ,surface 20 can be any flat surface including for example a wall, a ceiling or a floor. InFIG. 1 ,light source 15 projects point of light incircle 65; however, any mathematically describable trajectory such as an ellipse, a parabola or a line could be used. Also,light source 15 projects point oflight 70 into fields ofview Cameras flat surface 20; therefore projected point oflight 70 will appear to move in an ellipse instead of a circle. - Referring now to FIGS. 1, 3-17,
controller 25 and eachcamera Controller 25 captures data fromFIGS. 3-14 , representing frames from each camera, including those frames containing an image of the point of light in fields ofview Controller 25 also captures the time each frame is taken for each respective camera. Eachcamera controller 25 to make calibration computations. - Referring to
FIGS. 1 and 3 , for eachcamera controller 25 creates coordinates of a point of light from the field of view of each camera frame in which point oflight 70 appears. For example, inFIG. 3 ,controller 25 creates coordinates for point oflight 70. Forcircle 65,controller 25 must capture at least four frames from each camera containing point oflight 70 to generate coordinates, because four points uniquely define an ellipse. For other trajectories, two points could be used to define the trajectory.Controller 25 can then calculate for each camera an ellipse described by the four points of light that passed through their respective fields of view.Controller 25 is capable of calculating the angle in betweencameras circle 65 by knowing the time a particular frame fromcamera 35 capturespoint 70 and wherepoint 70 would be located at that same time along the ellipse viewed bycamera 40. -
FIGS. 3-7 represent frames of field ofview 50 ofcamera 35. For example, at time t=1 and t=27, point of light, 70 appears in field ofview 50 represented byFIGS. 3 and 4 . At t=1 and t=27, the same point of light 70 does not appear inFIGS. 8 and 9 representing frames of field ofview 55 forcameras 40. At t=1 and t=27, the same point of light 70 also does not appear inFIGS. 13 and 14 representing frames of field ofview 60 forcameras 45. Similarly, at time t=106, point of light 70 appears in fields of view of 55 and 60, orFIGS. 11 and 16 , respectively. - The method of the invention will be explained by way of example. In reference to
FIG. 1 , afirst camera 35 and asecond camera 40 are oriented to have fields ofview flat surface 20. The fields ofview cameras flat surface 20, respective distances from the center ofcircle 65 can be determined.Cameras FIG. 1 , calibratingcameras point 70 at frames t=1 through t=30 in field ofview 50 and where on the ellipse in field ofview 55point 70 would appear at frames t=58 through t=106. Of course, other trajectories could be used to generate similar points of light 70 having different trajectories in frames. - The
calibration system 10 can calibratecameras system 10 can also calibratecameras view System 10 can calibrate cameras having respective fields that overlap entirely at 100% or not at all. - Referring now to
FIGS. 19-22 , an alternative embodiment oflight generation source 15 is shown. In this embodiment,light source 15, contains a beam splitter, 75 such as a diffraction grating.Beam splitter 75 is placed in front of light sources to create four points oflight controller 25 from each frame; therefore, increasing the accuracy of final positioning results. - A second exemplary embodiment of
calibration system 10 is described with reference toFIG. 20 . Again,system 10 hascameras surveillance source 15, andcontroller 25.System 10 also includes asecurity monitor 105 to show asynthetic image 110,flat surface 20, and aconnection 115 to connectcontroller 25 to monitor 105. Once the light generating source has completed camera calibration, it is not needed for any synthetic image generation.Synthetic image 110 is created by appropriate software for such applications resident oncontroller 25.Synthetic image 110 is a real-time virtual image that can be supplied with actual images of people, for example, as they pass overflat surface 20.Image 110 does not require overlapping fields of view for its creation. In this embodiment, a security professional can view monitor 105 and observeflat surface 20 at one time insynthetic image 110, instead of viewing theflat surface 20 as a series of actual camera images on multiple monitors. - Modeling is another application for
system 10. In this application,controller 25, captures data fromFIGS. 3-17 and generates three-dimensional constructions of actual three-dimensional objects onflat surface 20. For example, if a person walks overflat surface 20, a synthetic image offlat surface 20 would be generated and the person would be passing through the synthetic image. If only a side view of the persons's face were visible,controller 25 would manipulate the data to generate a three-dimensional rendition of that persons face. - While the instant disclosure has been described with reference to one or more exemplary embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope thereof. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the disclosure without departing from the scope thereof. Therefore, it is intended that the disclosure not be limited to the particular embodiment(s) disclosed as the best mode contemplated for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (21)
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Cited By (5)
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US20070286460A1 (en) * | 2006-06-08 | 2007-12-13 | General Electric Company | Standoff detection systems and methods |
WO2009125346A1 (en) * | 2008-04-07 | 2009-10-15 | Nxp B.V. | Image processing system with time synchronization for calibration; camera unit and method therefor |
US20120050581A1 (en) * | 2007-08-20 | 2012-03-01 | Michael James Knee | Video framing control |
US8290246B1 (en) * | 2007-12-17 | 2012-10-16 | The United States of America as represented by the Administrator of the National Aeronautics & Space Administration (NASA) | Photogrammetric recession measurements of an ablating surface |
WO2013054128A1 (en) * | 2011-10-12 | 2013-04-18 | Hidef Aerial Surveying Limited | Aerial imaging array |
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KR101187909B1 (en) * | 2007-10-04 | 2012-10-05 | 삼성테크윈 주식회사 | Surveillance camera system |
EP2164043A1 (en) * | 2008-09-12 | 2010-03-17 | March Networks Corporation | Video camera calibration and perspective calculation |
WO2011009108A2 (en) * | 2009-07-17 | 2011-01-20 | Universal Robotics, Inc. | System and method for automatic calibration of stereo images |
US8913791B2 (en) | 2013-03-28 | 2014-12-16 | International Business Machines Corporation | Automatically determining field of view overlap among multiple cameras |
CN103983254B (en) * | 2014-04-22 | 2016-02-10 | 航天东方红卫星有限公司 | The motor-driven middle formation method of a kind of novel quick satellite |
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