A general imaging model and a method for finding its parameters
Summary (2 min read)
1 Introduction
- After describing the general imaging model and its properties, the authors present a simple method for finding the parameters of the model for any arbitrary imaging system:.
- It is important to note that, given the non-perspective nature of a general device, conventional calibration methods based on known scene points [251 or self-calibration techniques that use unknown scene points [51, [lo] , [151, cannot be directly applied.
- Since the authors are interested in the mapping from rays to image points, they need a ruy-bused calibration method.
- The authors describe a simple and effective ray-based approach that uses structured light patterns.
- This method allows a user to obtain the geometric, radiometric, and optical parameters of an arbitrarily complex imaging system in a matter of minutes.
2 General Imaging Model: Geometry
- If the imaging system is perspective, all the incoming light rays are projected directly onto to the detector plane through a single point, namely, the effective pinhole of the perspective system.
- The goal of this section is to present a geometrical model that can represent such imaging systems.
2.1 Raxels
- Each raxel includes a pixel that measures light energy and imaging optics (a lens) that collects the bundle of rays around an incoming ray.
- The authors will focus on the geometric properties (locations and orientations) of raxels.
- Each raxel can posses its own radiometric (brightness and wavelength) response as well as optical (point spread) properties.
- These non-geometric properties will be discussed in subsequent sections.
Figure 3: (a)
- It may be placed along the line of a principle ray of light entering the imaging system.
- In addition to location and orientation, a raxel may have radiometric and optical parameters.
- The notation for a raxel used in this paper.
t f
- Multiple raxels may be located at the same point (p1 = p~ = p3), but have different directions.
- The choice of intersecting the incoming rays with a refer-3Many of the arrays of photo-sensitive elements in the imaging devices described in section 1 are one or two-dimensional.
- 41ntensities usually do not change much along a ray (particularly when the medium is air) provided the the displacement is small with respect to the total length of the ray.
- In 191 and [141, it was suggested that the plenoptic function could also be restricted to a plane.
- The important thing is to choose some reference surface so that each incoming ray intersects this surface at only one point.
3 Caustics
- 'For example, when light refracts through shallow water of a pool, bnght curves can be seen where the caustics intersect the bottom Figure 5 :.
- The caustic is a good candidate for the ray surface of an imaging system as it is closely related to the geometry of the incoming rays; the incoming ray directions are tangent to the caustic.
4.1 Local Focal Length and Point Spread
- An arbitrary imaging system cannot be expected to have a single global focal length.
- Each raxel may be modeled to have its own focal length.
- The authors can compute each raxel's focal length by measuring its point spread function for several depths.
- A flexible approach models the point spread as an elliptical Gaussian.
4.3 Complete Imaging Model
- In the case of perspective projection, the essential [51 or fundamental [ 101 matrix provides the relationship between points in one image and lines in another image (of the same scene).
- In the general imaging model, this correspondence need no longer be projective.
5 Finding the Model Parameters
- The major axis makes an angle 1c, with the x-axis in the image.
- Each raxel has two focal lengths, f a , hThe angle $ is only defined if the major and minor axis have different.
- In section the authors described how to compute The authors model for a known optical system.
- In contrast, their goal in this section lengths.
Figure 7: (a)
- If these positions are known, the direction of the ray qf may be determined for each pixel.
- Now, the authors construct a calibration environment where the geometric and radiometric parameters can be efficiently estimated.
- If a display has N locations, the authors can make each point distinct in logN images using simple grey coding or bit coding.
- The authors may then compute the fall-off function across all the points.
- The authors compute both the radiometric response function and the falloff from seventeen uniform brightness levels.
5.1 Experimental Apparatus
- The laptop was oriented so as to give the maximum screen resolution along the axis of symmetry.
- Figure 8 (b) shows a sample binary pattern as seen from the parabolic catadioptric system.
- The perspective imaging system, consisting of just the camera itself, can be seen in Figure 1 l(a).
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Citations
27 citations
27 citations
26 citations
Cites background from "A general imaging model and a metho..."
...Grossberg and Nayar first introduced the generalized camera model [6] which has since become the standard representation for multi-camera setups [7, 18], particularly for multi-camera rigs on moving vehicles [13, 23]....
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26 citations
Cites background or methods from "A general imaging model and a metho..."
...The above imaging model has already been used, in more or less explicit form, in various works [7, 11, 12, 13, 14, 15, 18, 20, 21, 22], and is best described in [7]....
[...]
...[20] R. Swaminathan, M.D. Grossberg, S.K. Nayar....
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...It is essentially the same as the model described in [7] where in addition other issues such as point spread and radiometry are treated as well....
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...This summarizes the calibration approach proposed by Grossberg and Nayar [7], applied here for the 2D case....
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...[2] S. Baker, S. Nayar....
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26 citations
Cites background or methods from "A general imaging model and a metho..."
...Such calibration algorithms have been proposed in [2, 7, 8, 29]....
[...]
...This general model has been used in various works [8, 16, 18, 19, 20, 22, 23, 29, 30, 31, 32], and is best described in [8], where properties other than geometric ones are also considered....
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