SWARD Camera Calibration Toolbox
Matlab code for Super-Wide-Angle-lens Radial Distortion correction just using a single image of a checkerboard. The implemented procedure is fully automatic, without any necessity of manual selection of corners or parameters.


 

Intelligent Imaging-Interaction Technology and System
INTIMATES Research Group

     

Chinese Version


Xianghua Ying

Professor
Key Laboratory of Machine Perception (Ministry of Education)
School of Electronic Engineering and Computer Science
Peking University
 
Contact Information:
School of Electronic Engineering and Computer Science
Peking University
Beijing 100871, China 
Tel: (86-10)6275-9076
Fax: (86-10)6275-5569
E-mail: xhying
cis.pku.edu.cn

Xianghua Ying, received PhD in Pattern Recognition and Intelligent Systems, from the Institute of Automation, Chinese Academy of Sciences, in 2004. Currently, he is a professor in School of Electronic Engineering and Computer Science, Peking University.


Research Interests

3D Reconstruction, Human Machine Interaction, Motion Analysis, Virtual Reality, Image-Based Modeling and Rendering, Camera Calibration, Omnidirectional Vision, etc.


 

Visual Compass: A Novel Virtual Reality 3D Rotation Input Device Using a Camera Pose Estimation Technique from a Single View of Parallel Lines

In many intelligent environments such smart rooms, wearable computing and tele-conferencing, conventional mice and keyboards seem not suitable, some intuitive, immersive and cost-efficient interaction devices are developed. There are too many implemented application systems, and we do not intend to cite them all. Here, we only introduce a representative vision-based interface system proposed by Zhang, et al (2001), called Visual Panel, which employs an arbitrary quadrangle-shaped panel and a tip pointer as an intuitive input device. The technique proposed in this paper can be employed to recover 3D rotation only from a set of parallel lines,therefore, we can use a rectangular parallelepiped, such as a packaging box of a bottle, which can be occluded by hands or other objects very seriously, just left three parallel lines visible which are sufficient to drive a virtual 3D objects rotated in the screen as the box do. Obviously, if there is no occlusion, it is easy to recover the 3D rotation parameters of the box. Though the packaging box is occluded by hands very seriously, but 3D rotation can yet be recovered. Therefore, this technique can be used in, such as, a virtual object exhibition system for persons who are not so familiar with the computer operations.

 

Real-time Camera Calibration from Image Sequences of Balls in Sport Scenes

Spherical objects and vanish points are often used for camera calibration. An occluding contour of a sphere is projected to a conic in the perspective image, and using a moving active camera, the trajectory of a vanishing point in the perspective images is also a conic when the camera is rotated about a fixed 3D axis whereas the translation of the camera is arbitrary. In fact, the problems of camera calibration using conics from spheres or vanishing points can be described by same mathematic representations. Two linear approaches to the problems are proposed in this paper: one based on the geometric interpretation of the relation between image conics and the image of the absolute conic, and the other using the special structure of the problems in algebra. Only three such conics are needed for the two linear approaches, and the minimum number for previous nonlinear optimization methods is also three. All five intrinsic parameters are recovered linearly without making assumptions, such as, zero-skew or unitary aspect ratio which are often used in previous methods. The two linear algorithms have been tested in extensive experiments with respect to noise sensitivity and also made comparisons with recent calibration techniques.


 

Walkthrough in Large Environments Using Concatenated Panoramas

In recent panorama-based virtual reality systems, there exists a key issue that is how to achieve continuous walkthrough between the two neighboring panoramas. In order to solve this issue, we firstly take images in the sampling points of the transition path, and then the coefficients of image transformations among these images are estimated directly from these images. Finally, the images in the non-sampling points are synthesized from those images in the sampling points using image transformation method. The architecture and schedule mechanism of the prototype concatenated panorama system are also described in this paper.


Teaching

Spring 2014, 2013, 2012, 2011, 2010, 2009, 2008, 2006, 2005: Visual Geometry Computing

Fall 2012, 2010: Image Processing


Selected Publications (As first author published in PAMI(4), IJCV, ICCV(2), CVPR and ECCV)

  1. Xianghua Ying, Kun Peng, Yongbo Hou, Sheng Guan, Jing Kong, Hongbin Zha, Self-Calibration of Catadioptric Camera with Two Planar Mirrors from Silhouettes,  IEEE Trans. on Pattern Analysis and Machine Intelligence(PAMI), Vol. 35, No. 5, pp. 1206-1220, 2013.

  2. Xianghua Ying, Li Yang, Hongbin Zha, A Fast Algorithm for Multidimensional Ellipsoid-Specific Fitting by Minimizing a New Defined Vector Norm of Residuals Using Semidefinite Programming, IEEE Trans. on Pattern Analysis and Machine Intelligence(PAMI), Vol. 34, No. 9, pp. 1856-1863, 2012.

  3. Xianghua Ying, Hongbin Zha, Identical Projective Geometric Properties of Central Catadioptric Line Images and Sphere Images with Applications to Calibration, International Journal of Computer Vision (IJCV), Vol.78, No.1, pp.89-105, 2008.

  4. Xianghua Ying, Hongbin Zha, Geometric Interpretations of the Relation between the Image of the Absolute Conic and Sphere Images,  IEEE Trans. on Pattern Analysis and Machine Intelligence (PAMI), Vol. 28, No. 12, pp. 2031-2036, 2006.

  5. Xianghua Ying, Zhanyi Hu, Catadioptric Camera Calibration Using Geometric Invariants, IEEE Transactions on Pattern Analysis and Machine Intelligence (PAMI), Vol. 26, No. 10, pp. 1260-1271, 2004.

  6. Xianghua Ying, Kun Peng, Ren Ren, Hongbin Zha,Geometric Properties of Multiple Reflections in Catadioptric Camera with Two Planar Mirrors,  Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 10), 2010. (EI) 

  7. Xianghua Ying, Hongbin Zha, Linear Approaches to Camera Calibration from Sphere Images or Active Intrinsic Calibration Using Vanishing Points, Proc. International Conference on Computer Vision (ICCV 05), pp.596-603, Beijing, China, Oct. 15-21, 2005. (EI)

  8. Xianghua Ying, Zhanyi Hu, Catadioptric Camera Calibration Using Geometric Invariants, Proc. International Conference on Computer Vision (ICCV 03), Nice, France, pp.1351-1358, 2003. (EI)

  9. Xianghua Ying, Zhanyi Hu, Can We Consider Central Catadioptric Cameras and Fisheye Cameras within a Unified Imaging Model? Proc. European Conference on Computer Vision (ECCV 04), vol. I, pp.442-455, Prague, Czech, Lecture Notes in Computer Science (LNCS), 2004. (SCI)


Other Publications

  1. Xianghua Ying, Xiang Mei, Sen Yang, Ganwen Wang, Jiangpeng Rong, Hongbin Zha, Imposing Differential Constraints on Radial Distortion Correction, the 12th Asian Conference on Computer Vision (ACCV'14), 2014.

  2. Xianghua Ying, Xiang Mei, Sen Yang, Ganwen Wang, Hongbin Zha, Radial distortion correction from a single image of a planar calibration pattern using convex optimization, IEEE International Conference on Image Processing (ICIP), 2014.

  3. Xianghua Ying, Ganwen Wang, Xiang Mei, Sen Yang, Hongbin Zha,Improving the Perspective-3-Point Problem with a Planar Mirror, the 22nd International Conference on Pattern Recognition(ICPR), 2014.

  4. Xianghua Ying, Ganwen Wang, Xiang Mei, Sen Yang, Jiangpeng Rong, Hongbin Zha, A Direct Method for the Extrinsic Calibration of a Camera and a Line Scan LIDAR, The 2014 IEEE International Conference on Mechatronics and Automation (ICMA) 2014.

  5. Xianghua Ying, Lulu Hou, Yongbo Hou, Jing Kong, Hongbin Zha, Canonicalized central absolute moment for edge-based color constancy, p2260-2263, IEEE International Conference on Image Processing (ICIP), 2013.

  6. Songtao Pu, Jing Kong, Xianghua Ying, Hongbin Zha, Automatic Object Cosegmentation in Sparse Multiview Images, p902-906, The 2nd IAPR Asian Conference on Pattern Recognition (ACPR), 2013.

  7. Jing Kong, Xianghua Ying, Songtao Pu, Yongbo Hou, Sheng Guan, Ganwen Wang, Hongbin Zha, Camera Calibration Using Vertical Lines, ACCV 2012 International Workshops, Lecture Notes in Computer Science, Vol. 7728, 2012.

  8. Xianghua Ying, Li Yang, Jing Kong, Yongbo Hou, Sheng Guan, Hongbin Zha, Direct least square fitting of ellipsoids, Proc. 21th International Conference on Pattern Recognition (ICPR 12), 2012. (EI)

  9. Bo Li, Kun Peng, Xianghua Ying, Hongbin Zha, Vanishing Point Detection Using Cascaded 1D Hough Transform from Single Images, Pattern Recognition Letters, Vol 33, Iss 1, pp. 1-102, 2012.  (SCI)

  10. Li Yang, Xianghua Ying, Lulu Hou, Jing Kong, Hongbin Zha, Camera Resectioning from Image Edges with the L_infinity Norm Using Linear Programming, Proc. 22nd British Machine Vision Conference (BMVC), 2011.

  11. Kun Peng, Lulu Hou, Jing Kong, Ren Ren, Xianghua Ying, Hongbin Zha, 3d Tracking Using Rectangular Regions in Structured Scenes, Proc. IEEE International Conference on Information and Automation (ICIA), 2011. (EI)

  12. Kun Peng, Lulu Hou, Ren Ren, Xianghua Ying, Hongbin Zha, Single View Metrology Along Orthogonal Directions, Proc. 20th International Conference on Pattern Recognition (ICPR 10), 2010. (EI)

  13. Bo Li, Kun Peng, Xianghua Ying, Hongbin Zha, Simultaneous Vanishing Point Detection and Camera Calibration from Single Images, Proc. 6th International Symposium on Visual Computing, 2010.  (EI)

  14. Xianghua Ying, Kun Peng, Hongbin Zha, Walkthrough in Large Environments Using Concatenated Panoramas, The 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 09), China, Guilin, 2009. (EI) 

  15. H. Zha, H. Zhao, J. Cui, X. Song, Xianghua Ying, “Combining Laser-Scanning Data and Images for Target Tracking and Dynamic Scene Modeling”, Proc. 14th Int. Symposium of Robotics Research (ISRR 2009), Lucerne, Switzerland, Aug. 31 - Sep. 1, 2009.

  16. Xianghua Ying, Hongbin Zha,  Efficient Detection of Projected Concentric Circles using Four Intersection Points on a Secant Line, in Proc. 19th Int. Conf. on Pattern Recognition (ICPR 08), Tampa, Florida, USA, December 8-11, 2008.

  17. Xianghua Ying, Hongbin Zha,  Camera Calibration Using Principal-Axes Aligned Conics, Proc. 8th Asian Conf. on Computer Vision (ACCV’07), pp.138-148, Tokyo, Japan, November 18-22, 2007.

  18. Xianghua Ying, Hongbin Zha,  Camera Calibration from a Circle and a Coplanar Point at Infinity with Applications to Sports Scenes Analyses, Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 07), pp.220-225, San Diego, CA, USA, October 29 - November 2, 2007.

  19. Xianghua Ying, Hongbin Zha,  An Efficient Method for the Detection of Projected Concentric Circles, Proc. 2007 IEEE Int. Conf. on Image Processing (ICIP 07), pp.VI-560-563, San Antonio, Texas, USA, September 16-19, 2007.

  20. Xianghua Ying, Hongbin Zha,  Using Sphere Images for Calibrating Fisheye Cameras under the Unified Imaging Model of the Central Catadioptric and Fisheye Cameras, to appear in Proc. 18th Int. Conf. on Pattern Recognition (ICPR 06), August 20-24, Hong Kong, China.

  21. Xianghua Ying, Hongbin Zha, A Novel Linear Approach to Camera Calibration from Sphere Images, Proc. 18th Int. Conf. on Pattern Recognition (ICPR 06), August 20-24, Hong Kong, China.

  22. Xianghua Ying, Hongbin Zha, Interpreting Sphere Images Using the Double-Contact Theorem, Proc. Asian Conference on Computer Vision (ACCV 2006), Lecture Notes in Computer Science (LNCS), pp. 724-733, India, January 13-16, 2006. (SCI)

  23. Xianghua Ying, Zhanyi Hu, Hongbin Zha, Fisheye Lenses Calibration Using Straight-line Spherical Perspective Projection Constraint, Proc. Asian Conference on Computer Vision (ACCV 2006), Lecture Notes in Computer Science (LNCS), pp. 61-70, India, January 13-16, 2006.(SCI)

  24. Xianghua Ying, Hongbin Zha, Linear Catadioptric Camera Calibration from Sphere  Images, Proc. Workshop on Omnidirectional Vision, Camera Networks and Non-Classic Camera (Omnivis 05), pp. 28-34, Beijing, China, 2005.

  25. Xianghua Ying, Hongbin Zha, Camera Pose Determination from a Single View of Parallel Lines, Proc. IEEE International Conference on Image Processing (ICIP 05), pp. 1056-1059, Genova, Italy, 2005. (EI)

  26. Xianghua Ying, Hongbin Zha, Simultaneously Calibrating Catadioptric Camera and Detecting Line Features Using Hough Transform, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 05), pp.1343-1348, Edmonton, Alberta, Canada, August 2-6, 2005.(EI)

  27. Xianghua Ying, Zhanyi Hu, Spherical Objects based Motion Estimation for Catadioptric Cameras, Proc. International Conference on Pattern Recognition (ICPR 04) , UK, vol. 3, pp. 231-234, 2004. (EI)

  28. Xianghua Ying, Zhanyi Hu, Catadioptric Line Features Detection using Hough Transform, Proc. International Conference on Pattern Recognition (ICPR 04), UK, vol. 4, pp. 835-838, 2004. (EI)

  29. Xianghua Ying, Zhanyi Hu, Distortion Correction Of Fisheye Lenses Using A Non-Parametric Imaging Model, Proc. Asian Conference on Computer Vision (ACCV 04), Jeju, Korea, pp.527-532, 2004.

  30. Xianghua Ying, Zhanyi Hu, Fisheye Lenses Distortion Correction Using Spherical Perspective Projection Constraint,  Chinese Journal of Computers, Dec. 2003. 


Professional Activities


Last Modified: August 28, 2014 by Xianghua Ying (xhyingcis.pku.edu.cn )