Calibration of Panoramic Cameras Using 3D Scene Information

  • Fay Huang
  • Shou Kang Wei
  • Reinhard Klette
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2616)


This chapter proposes a novel approach for the calibration of a panoramic camera using geometric information available in real scenes. Panoramic cameras are of increasing importance for various applications in computer vision, computer graphics or robotics. Previously developed camera calibration methods (for ‘standard’ camera architectures following the pinhole camera model) are not applicable due to the non-linearity of the panoramic camera, defined by the existence of multiple (nonlinear) optical centers and a cylindrical image manifold. This article addresses the calibration subject of a more general yet flexible panoramic camera model for the first time. The chapter focuses on the calibration of two dominant parameters that characterize the camera model and provide flexibility in selecting different types of panoramas such as single-center (e.g. as assumed for QTVR), symmetric stereo, concentric or polycentric panoramas. We elaborate selected geometric constraints (for increasing numerical stability) with the corresponding solutions; summarize the experimental results with captured image data, and discuss the performance of different geometric constraints via error-sensitivity simulation and analysis.


Camera Calibration Optical Center Distance Constraint Camera Model Panoramic Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    S. E. Chen. QuickTimeVR-an image-based approach to virtual environment navigation. In Proc. SIGGRAPH’95, pages 29–38, Los Angeles, California, USA, August 1995. 335Google Scholar
  2. [2]
    O. Faugeras. Three-Dimensional Computer Vision: A Geometric Viewpoint. TheMIT Press, London, England, 1993. 337Google Scholar
  3. [3]
    P.E. Gill, W. Murray, and M.H. Wright. Practical Optimization. Academic Press, London, 1981. 343zbMATHGoogle Scholar
  4. [4]
    F. Huang, S.-K. Wei, and R. Klette. Geometrical fundamentals of polycentric panoramas. In Proc. ICCV’01, pages I:560–565, Vancouver, Canada, July 2001. 335Google Scholar
  5. [5]
    H. Ishiguro, M. Yamamoto, and S. Tsuji. Omni-directional stereo. PAMI, 14(2):257–262, 1992. 335Google Scholar
  6. [6]
    R. Klette, K. Schlüns, and A. Koschan. Computer Vision-Three-Dimensional Data from Images. Springer, Singapore, 1998. 336zbMATHGoogle Scholar
  7. [7]
    L. McMillan and G. Bishop. Plenoptic modeling: an image-based rendering system. In Proc. SIGGRAPH’95, pages 39–46, Los Angeles, California, USA, August 1995. 335Google Scholar
  8. [8]
    H.-Y. Shum and L.-W. He. Rendering with concentric mosaics. In Proc. SIGGRAPH’99, pages 299–306, Los Angeles, California, USA, August 1999. 335Google Scholar
  9. [9]
    H.-Y. Shum and R. Szeliski. Stereo reconstruction from multiperspective panoramas. In Proc. ICCV’99, pages 14–21, Korfu, Greece, September 1999. 335Google Scholar
  10. [10]
    R.Y. Tsai. A versatile camera calibration technique for high-accuracy 3d machine vision metrology using off-the-shelf tv cameras and lenses. IEEE Journal of Robotics and Automation, 3(4):323–344, 1987. 337CrossRefGoogle Scholar
  11. [11]
    S.-K. Wei, F. Huang, and R. Klette. Visibility determination in depth-layered cylinder scene representations. In Proc. IVCNZ’99, pages 175–180, Christchurch, New Zealand, August 1999. 335Google Scholar
  12. [12]
    J.-Y. Zheng and S. Tsuji. Panoramic representation for route recognition by a mobile robot. IJCV, 9(1):55–76, 1992. 335CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Fay Huang
    • 1
  • Shou Kang Wei
    • 1
  • Reinhard Klette
    • 1
  1. 1.CITR, Computer Science DepartmentThe University of Auckland Tamaki CampusAucklandNew Zealand

Personalised recommendations