Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image
This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image pla...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
ZHAN, Yinhu [verfasserIn] CHEN, Shaojie [verfasserIn] ZHANG, Chao [verfasserIn] WANG, Ruopu [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2023 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: Chinese journal of aeronautics - Amsterdam [u.a.] : Elsevier, 2002, 36, Seite 375-389 |
|---|---|
| Übergeordnetes Werk: |
volume:36 ; pages:375-389 |
| DOI / URN: |
10.1016/j.cja.2023.06.013 |
|---|
| Katalog-ID: |
ELV066089948 |
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| 245 | 1 | 0 | |a Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image |
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| 520 | |a This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. | ||
| 650 | 4 | |a Camera calibration | |
| 650 | 4 | |a Calibration model | |
| 650 | 4 | |a Imaging models | |
| 650 | 4 | |a Lens distortion | |
| 650 | 4 | |a Star image | |
| 700 | 1 | |a CHEN, Shaojie |e verfasserin |4 aut | |
| 700 | 1 | |a ZHANG, Chao |e verfasserin |4 aut | |
| 700 | 1 | |a WANG, Ruopu |e verfasserin |4 aut | |
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10.1016/j.cja.2023.06.013 doi (DE-627)ELV066089948 (ELSEVIER)S1000-9361(23)00199-1 DE-627 ger DE-627 rda eng 380 VZ 6,25 ssgn ASIEN DE-1a fid ZHAN, Yinhu verfasserin aut Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. Camera calibration Calibration model Imaging models Lens distortion Star image CHEN, Shaojie verfasserin aut ZHANG, Chao verfasserin aut WANG, Ruopu verfasserin aut Enthalten in Chinese journal of aeronautics Amsterdam [u.a.] : Elsevier, 2002 36, Seite 375-389 Online-Ressource (DE-627)534059384 (DE-600)2365081-3 (DE-576)267763506 1000-9361 nnns volume:36 pages:375-389 GBV_USEFLAG_U GBV_ELV SYSFLAG_U FID-ASIEN GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2004 GBV_ILN_2014 GBV_ILN_2068 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 36 375-389 |
| spelling |
10.1016/j.cja.2023.06.013 doi (DE-627)ELV066089948 (ELSEVIER)S1000-9361(23)00199-1 DE-627 ger DE-627 rda eng 380 VZ 6,25 ssgn ASIEN DE-1a fid ZHAN, Yinhu verfasserin aut Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. Camera calibration Calibration model Imaging models Lens distortion Star image CHEN, Shaojie verfasserin aut ZHANG, Chao verfasserin aut WANG, Ruopu verfasserin aut Enthalten in Chinese journal of aeronautics Amsterdam [u.a.] : Elsevier, 2002 36, Seite 375-389 Online-Ressource (DE-627)534059384 (DE-600)2365081-3 (DE-576)267763506 1000-9361 nnns volume:36 pages:375-389 GBV_USEFLAG_U GBV_ELV SYSFLAG_U FID-ASIEN GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2004 GBV_ILN_2014 GBV_ILN_2068 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 36 375-389 |
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10.1016/j.cja.2023.06.013 doi (DE-627)ELV066089948 (ELSEVIER)S1000-9361(23)00199-1 DE-627 ger DE-627 rda eng 380 VZ 6,25 ssgn ASIEN DE-1a fid ZHAN, Yinhu verfasserin aut Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. Camera calibration Calibration model Imaging models Lens distortion Star image CHEN, Shaojie verfasserin aut ZHANG, Chao verfasserin aut WANG, Ruopu verfasserin aut Enthalten in Chinese journal of aeronautics Amsterdam [u.a.] : Elsevier, 2002 36, Seite 375-389 Online-Ressource (DE-627)534059384 (DE-600)2365081-3 (DE-576)267763506 1000-9361 nnns volume:36 pages:375-389 GBV_USEFLAG_U GBV_ELV SYSFLAG_U FID-ASIEN GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2004 GBV_ILN_2014 GBV_ILN_2068 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 36 375-389 |
| allfieldsGer |
10.1016/j.cja.2023.06.013 doi (DE-627)ELV066089948 (ELSEVIER)S1000-9361(23)00199-1 DE-627 ger DE-627 rda eng 380 VZ 6,25 ssgn ASIEN DE-1a fid ZHAN, Yinhu verfasserin aut Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. Camera calibration Calibration model Imaging models Lens distortion Star image CHEN, Shaojie verfasserin aut ZHANG, Chao verfasserin aut WANG, Ruopu verfasserin aut Enthalten in Chinese journal of aeronautics Amsterdam [u.a.] : Elsevier, 2002 36, Seite 375-389 Online-Ressource (DE-627)534059384 (DE-600)2365081-3 (DE-576)267763506 1000-9361 nnns volume:36 pages:375-389 GBV_USEFLAG_U GBV_ELV SYSFLAG_U FID-ASIEN GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2004 GBV_ILN_2014 GBV_ILN_2068 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 36 375-389 |
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10.1016/j.cja.2023.06.013 doi (DE-627)ELV066089948 (ELSEVIER)S1000-9361(23)00199-1 DE-627 ger DE-627 rda eng 380 VZ 6,25 ssgn ASIEN DE-1a fid ZHAN, Yinhu verfasserin aut Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. Camera calibration Calibration model Imaging models Lens distortion Star image CHEN, Shaojie verfasserin aut ZHANG, Chao verfasserin aut WANG, Ruopu verfasserin aut Enthalten in Chinese journal of aeronautics Amsterdam [u.a.] : Elsevier, 2002 36, Seite 375-389 Online-Ressource (DE-627)534059384 (DE-600)2365081-3 (DE-576)267763506 1000-9361 nnns volume:36 pages:375-389 GBV_USEFLAG_U GBV_ELV SYSFLAG_U FID-ASIEN GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2004 GBV_ILN_2014 GBV_ILN_2068 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 36 375-389 |
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ZHAN, Yinhu |
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ZHAN, Yinhu ddc 380 ssgn 6,25 fid ASIEN misc Camera calibration misc Calibration model misc Imaging models misc Lens distortion misc Star image Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image |
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380 VZ 6,25 ssgn ASIEN DE-1a fid Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image Camera calibration Calibration model Imaging models Lens distortion Star image |
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ddc 380 ssgn 6,25 fid ASIEN misc Camera calibration misc Calibration model misc Imaging models misc Lens distortion misc Star image |
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ddc 380 ssgn 6,25 fid ASIEN misc Camera calibration misc Calibration model misc Imaging models misc Lens distortion misc Star image |
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ddc 380 ssgn 6,25 fid ASIEN misc Camera calibration misc Calibration model misc Imaging models misc Lens distortion misc Star image |
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ZHAN, Yinhu CHEN, Shaojie ZHANG, Chao WANG, Ruopu |
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rigorous and integrated self-calibration model for a large-field-of-view camera using a star image |
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Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image |
| abstract |
This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. |
| abstractGer |
This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. |
| abstract_unstemmed |
This paper proposes a novel self-calibration method for a large-FoV (Field-of-View) camera using a real star image. First, based on the classic equisolid-angle projection model and polynomial distortion model, the inclination of the optical axis is thoroughly considered with respect to the image plane, and a rigorous imaging model including 8 unknown intrinsic parameters is built. Second, the basic calibration equation based on star vector observations is presented. Third, the partial derivative expressions of all 11 camera parameters for linearizing the calibration equation are deduced in detail, and an iterative solution using the least squares method is given. Furtherly, simulation experiment is designed, results of which shows the new model has a better performance than the old model. At last, three experiments were conducted at night in central China and 671 valid star images were collected. The results indicate that the new method obtains a mean magnitude of reprojection error of 0.251 pixels at a 120° FoV, which improves the calibration accuracy by 38.6% compared with the old calibration model (not considering the inclination of the optical axis). When the FoV drops below 20°, the mean magnitude of the reprojection error decreases to 0.15 pixels for both the new model and the old model. Since stars instead of manual control points are used, the new method can realize self-calibration, which might be significant for the long-duration navigation of vehicles in some unfamiliar or extreme environments, such as those of Mars or Earth’s moon. |
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Rigorous and integrated self-calibration model for a large-field-of-view camera using a star image |
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CHEN, Shaojie ZHANG, Chao WANG, Ruopu |
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