Issue No. 05 - May (2002 vol. 24)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/34.1000241
<p>Catadioptric sensors refer to the combination of lens-based devices and reflective surfaces. These systems are useful because they may have a field of view which is greater than hemispherical, providing the ability to simultaneously view in any direction. Configurations which have a unique effective viewpoint are of primary interest, among these is the case where the reflective surface is a parabolic mirror and the camera is such that it induces an orthographic projection and which we call paracatadiotpric. We present an algorithm for the calibration of such a device using only the images of lines in space. In fact, we show that we may obtain all of the intrinsic parameters from the images of only <it>three</it> lines and that this is possible without any metric information. We propose a closed-form solution for focal length, image center, and aspect ratio for skewless cameras and a polynomial root solution in the presence of skew. We also give a method for determining the orientation of a plane containing two sets of parallel lines from one uncalibrated view. Such an orientation recovery enables a rectification which is impossible to achieve in the case of a single uncalibrated view taken by a conventional camera. We study the performance of the algorithm in simulated set-ups and compare results on real images with an approach based on the image of the mirror's bounding circle.</p>
Omnidirectional vision, panoramic vision, catadioptric camera, vanishing points, calibration
C. Geyer and K. Daniilidis, "Paracatadioptric Camera Calibration," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 24, no. , pp. 687-695, 2002.