Comparison of Calibration Methods for Omnidirectional Cameras

Abstract

The number of calibration methods for central catadioptric has increased in recent years. These methods are based on different camera models and they can either consider the central catadioptric system as a whole or as a separated camera and mirror system. Many times the user requires a versatile calibration solution without spending valuable time in the implementation of a particular method. In this chapter, we review the existing methods designed to calibrate any central omnivision system and analyze their advantages and drawbacks doing a deep comparison using simulated and real data. First we present a classification of such methods showing the most relevant characteristics of each particular method. Then we select the methods available as OpenSource and which do not require a complex pattern or scene. The evaluation protocol of calibration accuracy also considers 3D metric reconstruction combining omnidirectional images. Comparative results are shown and discussed in detail.