Experimental Study on Camera Calibration and Pose Estimation for the Application to Vehicle's Wheel Alignment

In this paper, we discuss about the experimental results of camera calibration and pose estimation for the application to vehicle's wheel alignment system using single camera. At first, we define a camera model for the camera system considered. For this model which consists of a linear part (ideal pinhole camera model) and a nonlinear part (lens distortion model), we drive a systematic and iterative calibration algorithm and pose estimation algorithm. In addition, we develop a coordinate matching algorithm which calculates matched sequence of order in both extracted image coordinate and object coordinate for non-interactive calibration and pose estimation. Based on the results of calibration, we also develop a camera simulator to confirm the results of calibration and compare the results of simulations with those of experiments in pose estimation