A Flexible Technique for Accurate Omnidirectional Camera Calibration and Structure from Motion
Top Cited Papers
- 1 January 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
In this paper, we present a flexible new technique for single viewpoint omnidirectional camera calibration. The proposed method only requires the camera to observe a planar pattern shown at a few different orientations. Either the camera or the planar pattern can be freely moved. No a priori knowledge of the motion is required, nor a specific model of the omnidirectional sensor. The only assumption is that the image projection function can be described by a Taylor series expansion whose coefficients are estimated by solving a two-step least-squares linear minimization problem. To test the proposed technique, we calibrated a panoramic camera having a field of view greater than 200 in the vertical direction, and we obtained very good results. To investigate the accuracy of the calibration, we also used the estimated omni-camera model in a structure from motion experiment. We obtained a 3D metric reconstruction of a scene from two highly distorted omnidirectional images by using image correspondences only. Compared with classical techniques, which rely on a specific parametric model of the omnidirectional camera, the proposed procedure is independent of the sensor, easy to use, and flexible.Keywords
This publication has 15 references indexed in Scilit:
- Autocalibration & 3D reconstruction with non-central catadioptric camerasPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Estimation of omnidirectional camera model from epipolar geometryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A theory of catadioptric image formationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- From projective to Euclidean space under any practical situation, a criticism of self-calibrationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- In defence of the 8-point algorithmPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Caustics of catadioptric camerasPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Epipolar Geometry for Central Catadioptric CamerasInternational Journal of Computer Vision, 2002
- A flexible new technique for camera calibrationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2000
- Self-Calibration of a Moving Camera from Point Correspondences and Fundamental MatricesInternational Journal of Computer Vision, 1997
- A computer algorithm for reconstructing a scene from two projectionsNature, 1981