On Camera Calibration for Scene Model Acquisition and Maintenance Using an Active Vision System

We present a fully integrated active vision system for interpreting dynamic scenes. We argue that even if the ego-motion of the mobile vision system is known, a single view camera calibration cannot adequately support scene model acquisition and maintenance. It is shown that stable camera/grabber chain calibration can be achieved using a multi-view calibration process. With such calibration, a predicted view of the scene from any arbitrary view point can successfully be used for object verification and scene model maintenance. Experimental results in scene interpretation confirm the benefits of the multi-view calibration approach.

[1]  James U. Korein,et al.  Robotics , 2018, IBM Syst. J..

[2]  Jiri Matas,et al.  Active recovery of the intrinsic parameters of a camera , 1998 .

[3]  Dana H. Ballard,et al.  Reference Frames for Animate Vision , 1989, IJCAI.

[4]  Jiri Matas,et al.  Constraining visual expectations using a grammar of scene events , 1995 .

[5]  Enrico Grosso,et al.  Head-centered orientation strategies in animate vision , 1993, 1993 (4th) International Conference on Computer Vision.

[6]  Jiri Matas,et al.  Colour-based object recognition , 1995 .

[7]  Thomas Skordas,et al.  An Optimal Solution for Mobile Camera Calibration , 1990, ECCV.

[8]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[9]  Roger Y. Tsai,et al.  A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses , 1987, IEEE J. Robotics Autom..

[10]  Jiri Matas,et al.  Image interpretation: exploiting multiple cues , 1995 .

[11]  Tieniu Tan,et al.  Pose Determination and Recognition of Vehicles in Traffic Scenes , 1994, ECCV.

[12]  Y. Aloimonos.  Active Perception , 1993 .

[13]  Jiri Matas,et al.  Recognition of Cylindrical Objects Using Occluding Boundaries Obtained from Colour Based Segmentation , 1994, BMVC.

[14]  Yiannis Aloimonos,et al.  Purposive and qualitative active vision , 1990, [1990] Proceedings. 10th International Conference on Pattern Recognition.

[15]  Jiri Matas,et al.  Hypothesis selection for scene interpretation using grammatical models of scene evolution , 1998, Proceedings. Fourteenth International Conference on Pattern Recognition (Cat. No.98EX170).

[16]  Josef Kittler,et al.  Robust recognition of calibration charts , 1997 .

[17]  David Vernon,et al.  Machine vision - automated visual inspection and robot vision , 1991 .

[18]  James L. Crowley,et al.  Vision as Process , 1995 .

[19]  Hilary Buxton,et al.  Spatio-temporal Reasoning within a Traffic Surveillance System , 1992, ECCV.

[20]  Hans-Hellmut Nagel,et al.  Model-Based Object Tracking in Traffic Scenes , 1992, ECCV.