A Toolbox for Easily Calibrating Omnidirectional Cameras

Abstract : In this paper, we present a novel technique for calibrating central omnidirectional cameras. The proposed procedure is very fast and completely automatic, as the user is only asked to collect a few images of a checker board, and click on its corner points. In contrast with previous approaches, this technique does not use any specific model of the omnidirectional sensor. It only assumes that the imaging function can be described by a Taylor series expansion whose coefficients are estimated by solving a four-step least-squares linear minimization problem, followed by a non-linear refinement based on the maximum likelihood criterion. To validate the proposed technique, and evaluate its performance, we apply the calibration on both simulated and real data. Moreover, we show the calibration accuracy by projecting the color information of a calibrated camera on real 3D points extracted by a 3D sick laser range finder. Finally, we provide a Toolbox which implements the proposed calibration procedure.
Type de document :
Communication dans un congrès
Iros, 2006, Benjing, China. 2006
Liste complète des métadonnées

Littérature citée [18 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00359941
Contributeur : Agostino Martinelli <>
Soumis le : lundi 9 février 2009 - 17:38:02
Dernière modification le : jeudi 11 janvier 2018 - 06:20:04
Document(s) archivé(s) le : mardi 8 juin 2010 - 22:08:45

Fichier

Scaramuzza_IROS06.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00359941, version 1

Collections

INRIA | UGA | IMAG

Citation

Davide Scaramuzza, Agostino Martinelli, Roland Siegwart. A Toolbox for Easily Calibrating Omnidirectional Cameras. Iros, 2006, Benjing, China. 2006. 〈inria-00359941〉

Partager

Métriques

Consultations de la notice

537

Téléchargements de fichiers

2564