Camera Calibration Based on the Common Self-polar Triangle of Sphere Images

  • Haifei Huang
  • Hui ZhangEmail author
  • Yiu-ming Cheung
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9004)


Sphere has been used for camera calibration in recent years. In this paper, a new linear calibration method is proposed by using the common self-polar triangle of sphere images. It is shown that any two of sphere images have a common self-polar triangle. Accordingly, a simple method for locating the vertices of such triangles is presented. An algorithm for recovering the vanishing line of the support plane using these vertices is developed. This allows to find out the imaged circular points, which are used to calibrate the camera. The proposed method starts from an existing theory in projective geometry and recovers five intrinsic parameters without calculating the projected circle center, which is more intuitive and simpler than the previous linear ones. Experiments with simulated data, as well as real images, show that our technique is robust and accurate.



The work described in this paper was supported by the National Natural Science Foundation of China (Project no. 61005038 and 61272366) and an internal funding from United International College.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Department of Computer ScienceHong Kong Baptist UniversityHong KongChina
  2. 2.United International CollegeBNU-HKBUZhuhaiChina
  3. 3.Shenzhen Key Lab of Intelligent Media and SpeechPKU-HKUST Shenzhen Hong Kong InstitutionShenzhenChina

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