Camera Calibration Based on the Common Self-polar Triangle of Sphere Images
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.
- 4.Faugeras, O.D., Luong, Q.-T., Maybank, S.J.: Camera self-calibration: theory and experiments. In: Sandini, G. (ed.) ECCV 1992. LNCS, vol. 588, pp. 321–334. Springer, Heidelberg (1992)Google Scholar
- 5.Hartley, R.: An algorithm for self calibration from several views. In: IEEE Conference on Computer Vision and Pattern Recognition, pp. 908–912 (1994)Google Scholar
- 8.Agrawal, M., Davis, L.S.: Camera calibration using spheres: a semi-definite programming approach. In: Proceedings of IEEE International Conference on Computer Vision, pp. 782–789 (2003)Google Scholar
- 10.Daucher, D., Dhome, M., Lapreste, J.: Camera calibration from spheres images. In: Eklundh, J.O. (ed.) ECCV 1994. LNCS, vol. 800, pp. 449–454. Springer, Heidelberg (1994)Google Scholar
- 11.Teramoto, H., Xu, G.: Camera calibration by a single image of balls: from conics to the absolute conic. In: Proceedings of 5th ACCV, pp. 499–506 (2002)Google Scholar
- 12.Zhang, H., Zhang, G., Wong, K.-Y.K.: Camera calibration with spheres: linear approaches. In: Proceedings of the International Conference on Image Processing, vol. 2, pp. 1150–1153 (2005)Google Scholar
- 20.Frederick, S.: Woods: Higher Geometry. Ginn and Company, Boston (1922)Google Scholar
- 21.Filon, L.N.G.: Introduction to Projective Geometry. Edward Arnold, London (1908)Google Scholar