DLT-Like Calibration of Central Catadioptric Cameras

Abstract : In this study, we present a 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 × 10 projection matrix, which uses lifted coordinates for image and 3D points. This projection matrix can be computed with enough number of 3D-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 non-linear optimization to calibrate various types of cameras. Our results are based on the sphere camera model which considers that every central catadioptric system can be modeled using two projections, one from 3D points to a unitary sphere and then a perspective projection from the sphere to the image plane. We tested our method both with simulations and real images.
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Submitted on : Sunday, September 28, 2008 - 10:16:48 PM
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Yalin Bastanlar, Luis Puig, Peter Sturm, Josechu Guerrero, Joao Barreto. DLT-Like Calibration of Central Catadioptric Cameras. OMNIVIS 2008 - 8th Workshop on Omnidirectional Vision, Camera Networks and Non-classical Cameras, Rahul Swaminathan and Vincenzo Caglioti and Antonis Argyros, Oct 2008, Marseille, France. ⟨inria-00325328⟩

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