Calibration of Omnidirectional Cameras Using a DLT-Like Approach (original) (raw)

SpringerBriefs in Computer Science, 2013

Abstract

In this chapter, we present a new calibration technique that is valid for all single-viewpoint catadioptric cameras. We are able to represent the projection of 3D points on a catadioptric image linearly with a \\(6\\times 10\\) projection matrix, which uses lifted coordinates for image and 3D points. This projection matrix can be linearly computed from 3D to 2D correspondences (minimum 20 points distributed in three different planes). We show how to decompose it to obtain intrinsic and extrinsic parameters. Moreover, we use this parameter estimation followed by a nonlinear optimization to calibrate various types of cameras. Our results are based on the sphere camera model. We test our method both with simulations and real images, and we analyze the results performing a 3D reconstruction from two omnidirectional images.

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