Centra catadioptric camera calibration with single image

Central catadioptric camera is a class of omnidirectional sensor having single effective viewpoint with reflective surfaces and lenses. This work studies the geometry of central catadioptric projection of a set of lines and adopts it into calibration. In this paper, we propose a practical calibration method for central catadioptric cameras by manually labeling the corners on planar grids. This method analytically parameterizes the intersection of a set of lines, regardless whether they are parallel or not. Algebraic distance is introduced in order to robustify this method since the conic which is the projection of line, is difficult to be obtained precisely. Moreover, it is proved that central catadioptric is able to calibrate by at least one image with two lines. The performance of this method is validated by both simulation data and real image data.