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Calibration of Cameras with Radially Symmetric Distortion

Jean-Philippe Tardif 1 Peter Sturm 2 Martin Trudeau 1 Sébastien Roy 1
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : We present algorithms for plane-based calibration of general radially distorted cameras. By this we understand cameras that have a distortion center and an optical axis such that the projection rays of pixels lying on a circle centered on the distortion center, form a right viewing cone centered on the optical axis. The camera is said to have a single viewpoint (SVP) if all such viewing cones have the same apex (the optical center), otherwise we speak of NSVP cases. This model encompasses the classical radial distortion model [4], fisheyes and most central or non-central catadioptric cameras. Calibration consists in the estimation of the distortion center, the opening angles of all viewing cones and their optical centers. We present two approaches of computing a full calibration from dense correspondences of a single or multiple planes with known Euclidean structure. The first one is based on a geometric constraint linking viewing cones and their intersections with the calibration plane (conic sections). The second approach is an homography-based method. Experiments using simulated and a broad variety of real cameras show great stability. Furthermore, we provide a comparison with Hartley-Kang's algorithm [14], which however can not handle such a broad variety of camera configurations, showing similar performance.
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Submitted on : Thursday, May 14, 2009 - 4:02:05 PM
Last modification on : Tuesday, February 9, 2021 - 3:16:03 PM
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Jean-Philippe Tardif, Peter Sturm, Martin Trudeau, Sébastien Roy. Calibration of Cameras with Radially Symmetric Distortion. IEEE Transactions on Pattern Analysis and Machine Intelligence, Institute of Electrical and Electronics Engineers, 2009, 31 (9), pp.1552-1566. ⟨10.1109/TPAMI.2008.202⟩. ⟨inria-00384203⟩



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