A symmetry analysis-based corner detection method is proposed to realize automatic corner detection of a chess board for camera calibration. The method includes feature points extraction, initial corner detection, and corner detection. Firstly, the candidate feature points are obtained based on the relationship between corners and the image binary edge. The feature points of the chess board are acquired by clustering the candidate feature points and computing the symmetry for every cluster using the ChEss(Chess-board Extraction by Subtraction and Summation) detector. Then the concept of initial corner is presented, and the detected initial corners are set as the starting point for corner searching. The corner detection methods are proposed by considering their different types of symmetry. Finally, the sub-pixel corner location is estimated using the detected corner location as the initial value. Experimental results demonstrate that the corner reprojection precision is approximately 0.12 pixels. The proposed corner detection method can realize the automatic corner detection for a chess board, and satisfies the requirement for camera calibration.
柏猛, 李敏花, 吕英俊. 基于对称性分析的棋盘图像角点检测方法[J]. 信息与控制, 2015, 44(3): 276-283,290.
BAI Meng, LI Minhua, LÜ Yingjun. Corner Detection Method of Chess Board Based on Symmetry Analysis. Information and control, 2015, 44(3): 276-283,290.
Hartley R, Zisserma A. Multiple view geometry in computer vision[M]. Cambridge, UK: Cambridge University Press, 2004.
[9]
Hu X, Du P, Zhou Y. Automatic corner detection of chess board for medical endoscopy camera calibration[C]//Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry. 2011: 431-434.
[10]
He J, Xia J, Xu X, et al. Automatic corner detection and localization for camera calibration[C]//Proceedings of 10th International Conference on Electronic Measurement & Instruments. 2011: 312-315.
[2]
Zhang Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11): 1330-1334.
[11]
屠大维, 张翼成. 基于灰度差异的棋盘格角点自动检测[J]. 光学精密工程, 2011, 19(6): 1360-1366. Tu D W, Zhang Y C. Auto-detection of checkerboard corners based on grey-level difference[J]. Optics and Precision Engineering, 2011, 19(6): 1360-1366.
[12]
刘奇琦, 龚晓峰. 一种二值图像连通区域标记的新方法[J]. 计算机工程与应用, 2012, 48(11): 178-180. Liu Q Q, Gong X F. New algorithm for binary connected component labeling[J]. Computer Engineering and Applications, 2012, 48(11): 178-180.
[14]
Chu J, Miao J, Zhang G, et al. Edge and corner detection by color invariants[J]. Optics & Laser Technology, 2013, 45(3): 756-762.
[15]
Rosten E, Porter R, Drummond T. Faster and better: A machine learning approach to corner detection[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2010, 32(1): 105-119.
[16]
Mokhtarian F, Mohanna F. Performance evaluation of corner detectors using consistency and accuracy measures[J]. Computer Vision and Image Understanding, 2006, 102(1): 81-94.
[17]
Bennett S, Lasenby J. ChESS-Quick and robust detection of chess-board features[J]. Computer Vision and Image Understanding, 2014, 118(1): 197-210.
[18]
Zhu Q, Wu B, Wan N. A sub-pixel location method for interest points by means of the Harris interest strength[J]. The Photogrammetric Record, 2007, 22(120): 321-335.
[5]
杨幸芳, 黄玉美, 高峰, 等. 用于摄像机标定的棋盘图像角点检测新算法[J]. 仪器仪表学报, 2011, 32(5): 1109-1113. Yang X, Huang Y, Gao F, et al. New corner detection algorithm of chessboard image for camera calibration[J]. Chinese Journal of Scientific Instrument, 2011, 32(5): 1109-1113.
[6]
吴海滨, 周英蔚, 周雨润, 等. 基于Hessian矩阵的黑白棋盘格角点检测[J]. 大气与环境光学学报, 2013, 8(5): 395-400. Wu H B, Zhou Y W, Zhou Y R, et al. Corner detection of black white checkerboard based on Hessian matrix[J]. Journal of Atmospheric and Environmental Optics, 2013, 8(5): 395-400.
[3]
Bouguet J Y. Camera calibration toolbox for matlab[CP/OL]. (2013-12-02)[2014-03-05]. http: //www.vision.caltech.edu/bouguetj/calib_doc.
[7]
de la Arturo E, Armingol J M. Automatic chessboard detection for intrinsic and extrinsic camera parameter calibration[J]. Sensors, 2010, 10(3): 2027-2044.
[4]
罗钧, 王莲, 侯艳, 等. 摄像机标定的棋盘格亚像素角点检测[J]. 重庆大学学报: 自然科学版, 2008, 31(6): 615-618. Luo J, Wang L, Hou Y, et al. Sub-pixel corner detection of tessellated picture based on camera calibration[J]. Journal of Chongqing University: Natural Science Edition, 2008, 31(6): 615-618.
[8]
Chu J, An G L, Wang L. Chessboard corner detection under image physical coordinate[J]. Optics & Laser Technology, 2013, 48: 599-605.
[13]
高红波, 王卫星. 一种二值图像连通区域标记的新算法[J]. 计算机应用, 2007, 27(11): 2776-2777. Gao H B, Wang W X. New connected component labeling algorithm for binary image[J]. Journal of Computer Applications, 2007, 27(11): 2776-2777.
