Paracatadioptric camera calibration
Geyer, C.
Daniilidis, K.
GRASP Lab., Pennsylvania Univ., Philadelphia, PA ;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: May 2002
Volume: 24,
Issue: 5
On page(s): 687-695
ISSN: 0162-8828
References Cited: 25
CODEN: ITPIDJ
INSPEC Accession Number: 7265318
Digital Object Identifier: 10.1109/34.1000241
Current Version Published: 2002-08-07
Abstract
Catadioptric sensors refer to the combination of lens-based
devices and reflective surfaces. These systems are useful because they
may have a field of view which is greater than hemispherical, providing
the ability to simultaneously view in any direction. Configurations
which have a unique effective viewpoint are of primary interest, among
these is the case where the reflective surface is a parabolic mirror and
the camera is such that it induces an orthographic projection and which
we call paracatadioptric. We present an algorithm for the calibration of
such a device using only the images of lines in space. In fact, we show
that we may obtain all of the intrinsic parameters from the images of
only three lines and that this is possible without any metric
information. We propose a closed-form solution for focal length, image
center, and aspect ratio for skewless cameras and a polynomial root
solution in the presence of skew. We also give a method for determining
the orientation of a plane containing two sets of parallel lines from
one uncalibrated view. Such an orientation recovery enables a
rectification which is impossible to achieve in the case of a single
uncalibrated view taken by a conventional camera. We study the
performance of the algorithm in simulated setups and compare results on
real images with an approach based on the image of the mirror's bounding
circle
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