A simple cue-based method for camera calibration and 3-D shape measurement with a single moving camera

We present a simple cue-based method for camera calibration aimed at 3-D shape measurement with a single domestic camera. This method performs both camera calibration and measurement of the 3-D shape simultaneously by projecting objects of measurement along with a cue object having feature points onto one image plane while moving the single camera by hand. Our proposed method requires only four coplanar points, and hence the use of a simple geometrical structure such as A4 size paper as the cue object allows us to perform measurement of the 3-D shape easily without special equipment. Furthermore, the method modifies the observed feature points' coordinates with the optimization method which formulates the orthogonality constraint between coordinate axes given by the camera calibration