1214_KiyotaCalib_matsusita_fixed2.pdf
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1 Efficient Projector Calibration Method using Plane with Checkerboard Pattern Shota Kiyota, 1 Hiroshi Kawasaki, 1 Ryo Furukawa 3 and Ryusuke Sagawa 2 In recent years, development on 3D measurement system using camera and projector has been intensively conducted and stable and accurate projector calibration technique is strongly required. Although camera calibration algorithm is now widely available, e.g. OpenCV, projector calibration is not yet. Since current projector calibration method requires special calibration box and/or multiple projections of special patterns to retrieve one-to-one correspondences, it is a time consuming and labarious task. In this paper, we propose an efficient projector calibration method using plane with checkerboard pattern so that calibration process can be simple, accurate and stable. Successful experimental results are also shown in the paper ),9),10) 2).,. 1 Kagoshima University 2 National Institute of Advanced Industrial Science and Technology 3 Hiroshima City University 1
2 ( ) (hard-calibration) (self-calibration) 5),6) 3 2),8) ( 1).,. OpenCV. ( ) 7),8) OpenCVµ 1 d µo d µ d µ Ž 2 d µ d µ e Œµ µ h
3 ªªª ªª Cyan R,G,B 0,255,255) Yellow R,G,B 255,255,0) ªª ªªªªª v H«3 2 1 LM 3.2 ( 3) Cyan OpenCV Z.Zhang 3) Zhang Zhang Zhang LM
4 Cyan(R,G,B)=(0,255,255) Yellow(R,G,B)=(255,255,0) R 0 B Zhang 3) OpenCV CameraPattern R µ Ž B µ Ž ProjectorPattern 5 2 4) Z.Zhang 4
5 Η num point E = (E c + E p ) (1) i=0 a=0 5. Input pattern Captured image Η Levenberg-Marquardt (LM ) LM 6( )* +6( ) LM n p Ec Ep ( 8) f x f y κ Center x Center y (degree) xyz t x,t y,t z α, β, γ
6 (a) 7 (b) (a) (b) 9 LM 4 3 t x t y t z α β γ frame frame frame LM frame 0 frame frame 0 12 LM 6. 4 pixel
7 情報処理学会研究報告 (a)frame 0 図 10 (b)frame 10 (c)frame 23 (a)frame 0 各画像独立で位置姿勢パラメータを推定し再投影した結果 それぞれで最適化されているためほとんどずれ が見られないが それぞれにおけるパラメータが大きく異なっている 図 12 (b)frame 10 (c)frame 23 提案手法により推定した位置姿勢を用いて再投影した結果 誤差が全体に分散していることが分かる 7. 謝 辞 本研究の一部は 総務省戦略的情報通信研究開発制度 SCOPE ICT イノベーション創 出型研究開発 文部科学省科学研究費補助金 および内閣府 最 先端 次世代研究開発支援プログラム (LR030) の助成を受けて実施されたものである こ こに記して謝意を表す 参 (a)frame 0 図 11 (b)frame 10 (c)frame 23 考 文 献 1) Furukawa, R. and Kawasaki, H.: Uncalibrated multiple image stereo system with arbitrarily movable camera and projector for wide range scanning, pp (2005). 2) Totsuka, S., Furukawa, R. and Kawasaki, H.: Precision improvement method for phase shifting based projector-camera stereo system using response function, Meeting on Image Recognition and Understanding 2009( MIRU 2009 ), pp (2009). 3) Zhang, Z.: A Flexible New Technique for Camera Calibration, Technical Report MSR-TR (1998). 4) 金谷健一 松永 力 基礎行列の分解 : 焦点距離の直接的表現 情報処理学会研究報 告. CVIM, [コンピュータビジョンとイメージメディア] Vol.2000, No.7, pp (2000). 5) 徐 剛 辻 三郎 3 次元ビジョン 共立出版 (1998). 6) 佐藤 淳 コンピュータビジョン-視覚の幾何学- コロナ社 (1999). 7) 見市伸裕 和田俊和 松山隆司 プロジェクタ カメラシステムのキャリブレーショ 各画像独立で位置姿勢パラメータを推定し frame 0 で求めた位置姿勢を用いて 各画像を再投影した結果 frame 0 ではずれが見られないが それ以外では大きくずれていることが分かる の手法では 平面板を用いるだけで簡易に内部パラメータを推定を行うことがき さらに外 部キャリブレーションも同時に行うことが出来る さらに提案手法では プロジェクタのレ ンズ歪を考慮することでより高精度なキャリブレーションを実現することが出来る また LM 法による全体最適化により 首尾一貫したプロジェクタ カメラ間の位置姿勢パラメー タを推定する手法を提案し その有効性を実験により確認した 提案手法により 今まで強 校正を行うことが難しいような場面でも短時間で高精度なアクティブ三次元計測を行うこと が出来るようなる 今後はよりインタラクティブなシステムを開発をする予定である Information Processing Society of Japan
8 No (2002). 8) 12 pp (2006). 9) MIRU2008 pp (2008). 10) 3 CVIM 15, Vol.47, No.SIG10, pp (2006). 8
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