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Plane-Based Calibration of Central Catadioptric Cameras

Simone Gasparini 1 Peter Sturm 1 Joao Barreto 2
1 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 a novel calibration technique for all central catadioptric cameras using images of planar grids. We adopted the well-known sphere camera model to describe the catadioptric projection. We show that, using the so-called lifted coordinates, a linear relation mapping the grid points to the corresponding points on the image plane can be written as a 6 × 6 matrix Hcata , which acts like the classical 3 × 3 ho- mography for perspective cameras. We show how to compute the image of the absolute conic (IAC) from at least 3 homo- graphies and how to recover from it the intrinsic parameters of the catadioptric camera. In the case of paracatadioptric cameras one such homography is enough to estimate the IAC, thus allowing the calibration from a single image.
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Simone Gasparini, Peter Sturm, Joao Barreto. Plane-Based Calibration of Central Catadioptric Cameras. ICCV 2009 - 12th International Conference on Computer Vision, Sep 2009, Kyoto, Japan. pp.1195-1202, ⟨10.1109/ICCV.2009.5459336⟩. ⟨inria-00586972⟩

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