Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/16297
標題: 單張魚眼影像之三維資訊萃取方法
A Method of Extracting 3D Information From Single Fish-eye Lens Image
作者: 吳東諺
Wu, Tung-Yen
關鍵字: camera calibration;相機率定;fish-eye lens;3D model;魚眼鏡頭;Ladybug 2;三維資訊
出版社: 土木工程學系所
引用: Ikeuchi K., Sakauchi M., Kawasaki H. and Sato I., 2004. Constructing Virtual Cities by Using Panoramic Images, International Journal of Computer Vision,Vol. 58, no. 3, 237–247. Kannala J. and Brandt S., 2004. A Generic Camera Calibration Method for Fish-Eye Lenses, Proceedings of the 17th International Conference on Pattern Recognition(ICPR’04), Vol. 1, pp. 10-13. Li S., 2006. Monitoring Around a Vehicle by a Spherical Image Sensor, IEEE Transactionson Intelligent Transportation Systems, Vol. 7, no. 4. Micusik B. and Pajdla T., 2004. Autocalibration & 3D Reconstruction with Non-central Catadioptric Cameras, Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’04), Vol. 1, pp. 58-65. Point Grey Research,Inc. http://www.ptgrey.com Scaramuzza D., Martinelli A. and Siegwart R.,2006. A Flexible Technique for Accurate Omnidirectional Camera Calibration andStructure from Motion, Proceedings of the Fourth IEEE International Conference on Computer Vision Systems. Scaramuzza D., Martinelli A. and Siegwart R., 2006. A Toolbox for Easily Calibrating Omnidirectional Cameras, Proceedings to IEEE International Conference on Intelligent Robots and Systems. Scaramuzza D., 2008. Omnidirectional Vision: from Calibration to Robot Motion Estimation, ETH Zurich, PhD Thesis no. 17635. Stehle T., Truhn D. and Trauwein C., 2007. Camera Calibration for Fish-eye Lenses in Endoscopy with An Application to 3D Reconstruction, 4th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, pp. 1176-1179. Ying X. and Hu Z., 2004. Can We Consider Central Catadioptric Cameras and Fisheye Cameras within a Unified Imaging Model, European Conference on Computer Vision, pp. 442-455 Zhao H. and Aggarwal J.K., 2000. 3D Reconstruction of an Urban Scene from Synthetic Fish-eye Images, 4th IEEE Southwest Symposium on Image Analysis and Interpretation, pp. 219-223. 陳永昇,2006,以視覺為基礎之智慧型環境的建構四年計畫,經濟部學界科專,Vol. 7。 李偉弘,2008,魚眼鏡頭光學軸的定位及三維量測應用,明志科技大學碩士論文。 金為銑、楊先宏、邵鴻潮、催仁愉,2001,攝影測量學,武漢大學出版社,pp. 10-11。 何維信,1995,航空攝影測量學,大中國圖書公司,pp. 523-529。 賈云得、呂宏靜、劉萬春,2000,魚眼變形立體圖像恢復稠密深度圖的方法,中國計算機學報,Vol.23,no. 12,pp. 1332-1336。 張誠、汪嘉業,2002,利用魚眼照片恢复景物的深度信息,工程圖學學報,Vol. 3。 張誠、汪嘉業,2004,對魚眼照片場景實現三維重建和虛擬瀏覽,計算機輔助設計與圖形學學報,Vol. 16,no. 1。 謝瑞斌,2000,低價位數值相機空間量測實用性之研究,國立台灣大學碩士論文。 饒見有、陳良健、溫仁佑、黃鼎名、陳杰宗、許淑珍,2007,應用DSLR相機於空載傾斜攝影之研究,第二十七界測量及空間資訊研討會。
摘要: 
3D information can be obtained from the images taken by a general digital camera, since the development of 3D information extracting technology from a 2D image. However, a conventional camera has a limited viewing aspect that is a barrier to acquire a wide range image from a short distance. For wide scenes imaging with a single camera, one solution is to adopt a camera with fish-eye lens. In this study, a MATLAB toolbox was employed to calibrate Ladybug's fish-eye lens camera with an average of error less than 0.5 pixels. The transferring model was developed by applying Taylor's series to simulate the image projection function. Assuming that all the contour lines of the object parallel to axes and giving the distance between the camera and the object, the transferring model is able to calculate 3D coordinates of objects accurately and describe the shape of the object.

隨著影像獲取三維資訊的技術發展,以隨身相機拍攝即可擷取三維資訊。但一般鏡頭視角不大,無法在短距離內獲取大範圍影像,而魚眼鏡頭的短焦距大視角設計,使其取像範圍比一般常見鏡頭廣。Ladybug2為由六顆魚眼鏡頭組成之複合式攝影機,可組成約75%球面的全景球型影像,本研究為測試Ladybug2之魚眼影像於量測上之實用性,藉由開放程式碼之MATLAB Toolbox,以泰勒展開式描述物點與像點間之轉換關係,來率定魚眼鏡頭之成像模型,並計算其量測誤差,結果平均小於0.5pixel,顯示Ladybug2鏡頭具有用於量測之能力。利用率定得到之轉換關係,加入計算物點與鏡頭光軸間夾角之公式,可透過一深度值來擷取任意像點於三度空間中之位置。
本研究以一立方體進行實驗,以立方體三個互相垂直的邊長皆與像平面坐標系三軸平行作為約制條件,恢復與原立方體具有一定比例之相對模型。同時為測試不按約制條件所恢復相對模型之差異,本研究亦嘗試在不同距離下,於一定角度朝對立面拍攝影像。成果顯示,在鏡頭光軸與立面垂直之情況下,不同距離所恢復之相對模型與原立方體之比例誤差不大,模型誤差主要由無法依照約制條件拍攝所致,證明在鏡頭與被攝物維持一定條件的情況下,本方法可有效且快速擷取單張影像之三維資訊。
URI: http://hdl.handle.net/11455/16297
其他識別: U0005-2308201013342800
Appears in Collections:土木工程學系所

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