Iterative multistep explicit camera calibration

Perspective camera calibration has been a research subject for a large group of researchers. However, only a small number of those methods base their approaches on the use of monoplane calibration points. We developed one of those methodologies using monoplane calibration points to perform an explicit three-dimensional (3-D) camera calibration. This methodology is based on an iterative approach. To avoid the singularities obtained with the calibration equations when monoplane calibration points are used, this method computes the calibration parameters in a multistep procedure and requires a first-guess solution for the intrinsic parameters. These intrinsic parameters are updated and their accuracy increased during the iterative procedure. All computations required are linear and in addition to the extrinsic parameters the proposed method also computes the first coefficient of the radial distortion (k/sub 1/) and the skew angle. A first-guess value for the focal length of the lens is required but its value is iteratively updated using the Gauss lens model. This methodology also includes the uncertainty horizontal image scale factor (S/sub x/) on the set of calibration parameters to be computed, which makes this approach independent of the accuracy of the horizontal scale factor. The proposed methodology has the advantage that it can be used with monoplane calibration data with no restrictions for the pose geometry of the camera. In this approach the pose estimation problem is treated separately, computing the pose orientation of the camera in a first step and using this information to compute the pose location. A model for the expected stability of the camera look angles from noisy image data and its stability analysis as a function of the pose geometry of the camera is presented. Several experimental and simulated analyzes were performed and are presented.