IPSJ SIG Technical Report Vol.2015-CVIM-196 No /3/6 1,a) 1,b) 1,c) U,,,, The Camera Position Alignment on a Gimbal Head for Fixed Viewpoint Swi
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1 1,a) 1,b) 1,c) U,,,, The Camera Position Alignment on a Gimbal Head for Fixed Viewpoint Swiveling using a Misalignment Model Abstract: When the camera sets on a gimbal head as a fixed-view-point, it is effective to generate a panoramic image. However if the projection center isn t aligned to the rotation center, the panoramic image contains difference with depth dependencies. By using Zhang s method, camera positions and directions for each swiveling situation are obtained with changing a mounted position of the camera by sliders with swiveling of the gimbal head. A position of the rotation center is estimated from movement of the camera positions. In this paper, we propose a method for it using a misalignment model with only one dimensional changing of the camera position to obtain the two dimentional ideal position for one rotation. Keywords: Fixed viewpoint,swivel camera, Calibration,Gimbal head,panoramic image. 1. 1, a) r-takeba@monju.fuis.u-fukui.ac.jp b) tokai@u-fukui.ac.jp c) k-sakamoto@monju.fuis.u-fukui.ac.jp c 2015 Information Processing Society of Japan 1
2 XYZ xyz [1] 2 ) Camera Slider Gimbal head Zhang 2 [2] Zhang c 2015 Information Processing Society of Japan 2
3 3.1.2 U Z 4 U Z θ l (1) X d,z d Z z l = 2π θ Xd (Z d z) 2 (1) (2) (1) 1, 2 X 5mm Z 10mm (3) Zhang Z 30 4 U (1) U X d,z d,θ U X X d U U Z Z d U z U (3) Z X U c 2015 Information Processing Society of Japan 3
4 (1) 1cm 0 12cm 5 X d,z d 30 6(a) θ Y-Z 6(b) Z Y U l = 2π θ Zd (Y d y) 2 (3) Z Z d Y Y d, θ U Y 4. X-Z Y-Z (a) [pixel] (b) 6 7 U 8 l l = 2π (103.6 z) n (4) l = (Xi X i 1 ) 2 +(Y i Y i 1 ) 2 (2) i=1 Z 103.6mm X 23.0mm X i Y i i X-Z Z U (1) z 4.1 X-Z X-Z X Y Z Z Z 0cm 12cm 1cm c 2015 Information Processing Society of Japan 4
5 7 9 8 U 4.2 Y-Z Y-Z X Z Y Y 0cm 10cm 1cm U (a) l = 2π (14.7 y) (b) (5) Y 14.7mm U X 23.0mm,Y 12(a) 14.7mm,Z 103.6mm 12(b) c 2015 Information Processing Society of Japan 5
6 情報処理学会研究報告 (a) パノラマ合成画像 (a) パノラマ合成画像 (b) 重複領域の差分画像 (b) 重複領域の差分画像 図 11 校正前のパノラマ合成結果 これらの結果より 校正後の雲台で作成したパノラマ画 像は校正前の雲台で作成したものと比べ 画像上のずれが 大幅に減少していることが分かる しかし 手前の撮影物 図 12 校正後のパノラマ合成結果 できる もしくは カメラの解像度を下げることで チル ト回転においても mm 以内の撮影対象物でもずれ なくパノラマ画像の作成が行える には若干のずれが現れている この理由については以下で 述べる パン回転方向校正後に行ったチルト回転方向校正時に求 められた U 字曲線の式から Z 軸方向に 14.5mm 移動さ せた位置が最も雲台に近い位置であることが分かる 本来 ならば パン回転方向の校正後にチルト回転方向の校正を 行えば U 字曲線の極小値は 0mm になるはずである し かし 実際には計測誤差や計算誤差によりこのような値が 残ってしまう したがって 今回求めた校正位置はまだ完全に雲台回転 軸とカメラの光学中心点が重なる位置ではない そのた め 図 12(b) のようなズレが残ったと考えられる このずれをなくすため U 字曲線の極小値を 0mm にす 図 13 光学中心点が 14.5mm ずれている時の厳密性 るのが理想的であるがカメラの焦点距離と撮影対象物まで の距離により無視できる場合がある (付録 A.1 を参照) 図 13 は本研究で使用した解像度 ( ) で カ メラ間が 14.5mm ずれている設定での 被写体距離と画素 ズレ量の関係を表したグラフである このことから チルト回転においては mm 以上離 れた所にある撮影対象物でもずれなくパノラマ画像が作成 c 2015 Information Processing Society of Japan 6
7 5. U U A 1 ( ) 3mm 9213mm ( ) , [1] T. Wada and T. Matsuyama, Appearance Sphere: Background Model for Pan-Tilt-Zoom Camera, Proc. of 13th ICPR, pp.a-718-a-722, [2] Z.Zhang, A flexible new technique for camera calibration, IEEE Trans. PAMI, Vol.22, No.11 pp , [3] R.Takeba,T.Shibata,S.Tokai,H.Hase A Method if Camera Position Alignment in a Gimbal Head for Fixed Viewpoint Swiveling, IWAIT2013,1C-4,2013. A.1 d d = bf Z (A.1) b f Z b Z f 5mm 15351mm 7mm 21497mm A 1 c 2015 Information Processing Society of Japan 7
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