论文标题
自动估算校准相机图像的球体中心
Automatic Estimation of Sphere Centers from Images of Calibrated Cameras
论文作者
论文摘要
具有不同方式的设备的校准是机器人视觉中的关键问题。常规空间对象（例如平面）经常用于此任务。本文介绍了相机图像中椭圆的自动检测，并估算了与检测到的2D椭圆相对应的球的3D位置。我们提出了两种新颖的方法，以（i）检测相机图像中的椭圆，（ii）如果已知大小，则估计相应球的空间位置。算法对算法进行了定量和定性测试。它们用于校准配备数码相机，深度传感器和激光镜设备的自动驾驶汽车的传感器系统。
Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as well as to estimate the 3D position of the spheres corresponding to the detected 2D ellipses. We propose two novel methods to (i) detect an ellipse in camera images and (ii) estimate the spatial location of the corresponding sphere if its size is known. The algorithms are tested both quantitatively and qualitatively. They are applied for calibrating the sensor system of autonomous cars equipped with digital cameras, depth sensors and LiDAR devices.
