Estimation of Interior Orientation Parameters from Constraints on Line Measurements in a Single Image
نویسنده
چکیده
In this paper a method is presented for the estimation of interior orientation parameters and lens distortion using measurements of lines in a single image and constraints derived from a priori information on the orientation of the related object lines. The interior orientation parameters consist of the location of the principle point and the focal length. Radial lens distortion is modeled with one parameter. The straight image lines are extracted automatically using a line-growing algorithm. The constraints on the orientation of the object lines are parallelism and perpendicularity constraints. These constraints are specified automatically using a vanishing point detection algorithm. The two-step procedure starts with the least-squares estimation of the lens distortion using only parallelism constraints. In this step, the image line observations are checked for blunders and their precision is assessed. In the second step, the principal point and the focal length are estimated using adjusted observations from the first step and constraints for perpendicularity in addition to the parallelism constraints. The formal precision of the parameters results from propagation of variances. The precision turned out to be in the order of 0.1 mm for the tests performed with wide-angle imagery (focal length 9.2 mm, sensor size 8.6x6.9 mm). The procedure is applied to several images of a building and the results of the parameter estimation are evaluated. The quality of the estimated interior orientation parameters depends strongly on the orientation of the image relative to the object and the focal length of the camera. Furthermore, the availability and distribution of object lines and constraints plays an important role. This automatic procedure for the estimation of lens distortion and interior orientation parameters is well suited to application to historic imagery taken with an unknown camera, or for imagery taken with a camera with an unstable interior orientation. This holds true for wide-angle, three-point perspective (i.e. no object edges are parallel to the image plane) imagery of objects showing straight lines that can be assumed parallel and perpendicular.
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