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CLC number: TP317.4; TP391

On-line Access: 2011-03-09

Received: 2010-03-02

Revision Accepted: 2010-06-28

Crosschecked: 2011-01-31

Cited: 1

Clicked: 7018

Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE C 2011 Vol.12 No.3 P.239-249


Using concurrent lines in central catadioptric camera calibration

Author(s):  Lei Zhang, Xin Du, Ji-lin Liu

Affiliation(s):  Department of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   ajuan.zhang@gmail.com, duxin@zju.edu.cn, liujl@zju.edu.cn

Key Words:  Catadioptric, Calibration, Concurrent lines, Conic estimation

Lei Zhang, Xin Du, Ji-lin Liu. Using concurrent lines in central catadioptric camera calibration[J]. Journal of Zhejiang University Science C, 2011, 12(3): 239-249.

@article{title="Using concurrent lines in central catadioptric camera calibration",
author="Lei Zhang, Xin Du, Ji-lin Liu",
journal="Journal of Zhejiang University Science C",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Using concurrent lines in central catadioptric camera calibration
%A Lei Zhang
%A Xin Du
%A Ji-lin Liu
%J Journal of Zhejiang University SCIENCE C
%V 12
%N 3
%P 239-249
%@ 1869-1951
%D 2011
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1000043

T1 - Using concurrent lines in central catadioptric camera calibration
A1 - Lei Zhang
A1 - Xin Du
A1 - Ji-lin Liu
J0 - Journal of Zhejiang University Science C
VL - 12
IS - 3
SP - 239
EP - 249
%@ 1869-1951
Y1 - 2011
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.C1000043

Central catadioptric cameras have been extensively adopted in robotics and surveillance due to their extensive field of view. To attain precise 3D information in these applications, it is important to calibrate the catadioptric cameras accurately. The existing calibration techniques either require prior knowledge of the mirror types, or highly depend on a conic estimation procedure, which might be ruined if there are only small portions of the conic visible on calibration images. In this paper, we design a novel planar pattern with concurrent lines as a calibration rig, which is more robust in conic estimation since the relationship among lines is taken into account. Based on the line properties, we propose a rough-to-fine approach suitable for the new planar pattern to calibrate central catadioptric cameras. This method divides the nonlinear optimization calibration problem into several linear sub-problems that are much more robust against noise. Our calibration method can estimate intrinsic parameters and the mirror parameter simultaneously and accurately, without a priori knowledge of the mirror type. The performance is demonstrated by both simulation and a real hyperbolic catadioptric imaging system.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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