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Single View Point Omnidirectional Camera Calibration from Planar Grids

Christopher Mei 1 Patrick Rives 1 
1 AROBAS - Advanced Robotics and Autonomous Systems
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper presents a flexible approach for calibrating omnidirectional single viewpoint sensors from planar grids. Current approaches in the field are either based on theoretical properties and do not take into account important factors such as misalignment or camera-lens distortion or over-parametrised which leads to minimisation problems that are difficult to solve. Recent techniques based on polynomial approximations lead to impractical calibration methods. Our model is based on an exact theoretical projection function to which we add well identified parameters to model real-world errors. This leads to a full methodology from the initialisation of the intrinsic parameters to the general calibration. We also discuss the validity of the approach for fish-eye and spherical models. An implementation of the method is available as opensource software on the author's Web page. We validate the approach with the calibration of parabolic, hyperbolic, wideangle and spherical sensors.
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Christopher Mei, Patrick Rives. Single View Point Omnidirectional Camera Calibration from Planar Grids. IEEE International Conference on Robotics and Automation (ICRA), Apr 2007, Rome, Italy. pp.3945-3950, ⟨10.1109/ROBOT.2007.364084⟩. ⟨hal-00767674⟩



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