NDLI: A new camera calibration method for robotic applications

Content Provider	IEEE Xplore Digital Library
Author	Jun-Sik Kim In-So Kweon
Copyright Year	2001
Description	Author affiliation: Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea (Jun-Sik Kim)
Abstract	In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3D target points and their image points, and greatly simplifies the calibration problem.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	778
Ending Page	783
File Size	583627
Page Count	6
File Format	PDF
ISBN	0780366123
DOI	10.1109/IROS.2001.976263
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot vision systems Cameras Calibration Mobile robots Application software Computer vision Laboratories Computer science Layout Robot kinematics
Content Type	Text
Resource Type	Article

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