NDLI: Plane-based calibration of central catadioptric cameras

Content Provider	IEEE Xplore Digital Library
Author	Gasparini, S. Sturm, P. Barreto, J.P.
Copyright Year	2009
Description	Author affiliation: Institute for Systems and Robotics, Dept. of Electrical and Computer Engineering, University of Coimbra, Portugal (Barreto, J.P.) \|\| INRIA Grenoble-Rhône-Alpes, 655 Avenue de l'Europe, 38334 Montbonnot St. Martin, France (Gasparini, S.; Sturm, P.)
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 homography for perspective cameras. We show how to compute the image of the absolute conic (IAC) from at least 3 homographies 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.
Starting Page	1195
Ending Page	1202
File Size	752386
Page Count	8
File Format	PDF
ISBN	9781424444205
ISSN	15505499
DOI	10.1109/ICCV.2009.5459336
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-29
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Cameras Mirrors Robot vision systems Transmission line matrix methods Robot kinematics Shape Taylor series Lenses Parameter estimation
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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