Aug 25, 2011 - (LU); Thomas Solignac, Luttange. (FR). (57). ABSTRACT ...... calculation method, Whereby a set of vectors [Wex? Weyi, WeZi]T is obtained in ...
US 20110205340A1
(19) United States (12) Patent Application Publication (10) Pub. No.: US 2011/0205340 A1 Garcia et al.
(43) Pub. Date:
(54) 3D TIME-OF-FLIGHT CAMERA SYSTEM
(30)
Aug. 25, 2011
Foreign Application Priority Data
AND POSITION/ORIENTATION CALIBRATION METHOD THEREFOR
(75) Inventors:
Aug. 12, 2008
Frederic Garcia, Palafrugell
(GGir°‘:}3i.(ES)S; nitric (FR) ran 1 ier,
a1n -
ax
Publication Classi?cation ;
(51) Int. Cl.
Bruno Mirbach, KonZ (DE);
(73) Assignee '
(EP) ................................ .. 081622227
H04N 13/02
(200601)
Roberto 01-56110, Luxembourg
(52)
US. Cl. ................................. .. 348/46; 348/E13.074
(LU); Thomas Solignac, Luttange (FR)
(57)
IEE INTERNATIONAL
A camera system comprises a 3D TOF camera for acquiring
ABSTRACT
ELECTRONICS &
a camera-perspectlve range 1mage~of a scene ‘and an image
ENGINEERING SIA-
processor'for processlng the range lmage. The image proces
ECHTERNACH (LU) ’
(21) AP p1~ NO‘:
13/058,962
(22)
PCT Filed,
API._ 27, 2009
(86)
PCT NO;
pCT/Ep2009/055054
sor conta1ns a pos1t1on and onentatlon cal1brat1on routine
implemented therein in hardware and/or software, Which position and orientation calibration routine, When executed by the image processor, detects one or more planes Within a
range image acquired by the 3D TOF camera, selects a refer ence plane among the at least one or more planes detected and
computes position and orientation parameters of the 3D TOF camera With respect to the reference plane, such as, e. g.,
§ 371 (0X1),
(2), (4) Date;
elevation above the reference plane and/or camera roll angle
May 6, 2011
and/or camera pitch angle.
Rotation (R) and translation (if)
14..’
in
Patent Application Publication
Aug. 25, 2011 Sheet 1 0f 3
US 2011/0205340 A1
Fig. 1
Rotation (R) and translation (I)
{W}
Fig. 2
W
Patent Application Publication
Fig. 3
Aug. 25, 2011 Sheet 2 0f 3
US 2011/0205340 A1
Patent Application Publication
Aug. 25, 2011 Sheet 3 0f 3
US 2011/0205340 A1
Fig. 4 Mount camera
I
“H
Input approximate camera orientation w
Acquire range image
r
W
Compute Cartesian representatiun of scene in camera reference system
,
we
Piane detection
J]
‘-\+§
Plane selectien
L
‘WW:
Compute camera position
L
w?
Compute coordinate transformation matrix
\
Cempute vectors
wry
I'm
Aug. 25, 2011
US 2011/0205340 A1
3D TIME-OF-FLIGHT CAMERA SYSTEM AND POSITION/ORIENTATION CALIBRATION METHOD THEREFOR TECHNICAL FIELD
[0001] The present invention generally relates to the tech nical ?eld of 3D computer vision, in particular to a position/ orientation calibration method for a 3D time-of-?ight camera
system.
tation. For this purpose, a calibration pattern With at least 5>0 to the detected
camera is correctly positioned and oriented (Which should be
planes for being further considered. By requiring the pitch
veri?ed by connecting a display screen to the camera or using
angle [3 around the y-axis to lie in the interval [—J'|Z/ 4,J1:/ 4], the condition |a31|:|sin [3|
