Calibration of Panoramic Catadioptric Sensors Made Easier
Abstract
We present a new method to calibrate panoramic catadioptric sensors.
While many methods exist for planar cameras, it is not the case for
panoramic catadioptric sensors. The aim of the proposed calibration
is not to estimate the mirror surface parameters which can be known
very accurately, but to estimate the intrinsic parameters of the
CCD camera and the pose parameters of the CCD camera with respect to
the catadioptric mirror. Unless a telecentric lens is used, this
pose must be estimated, particularly for sensors that have a unique
effective view point. The method we develop is based on the original
and simple idea that the mirror external and internal boundaries can be used
as a 3D calibration pattern. The improvement of using calibrated camera
with our approach is demonstrated on synthetic experiments with incorrectly
aligned sensors and validation tests on real images are described.
The proposed technique open a new ways for better designed catadioptric
sensors where self-calibration can be easily performed in real-time in a
completely autonomous way. In particular this should allow to avoid errors
due to vibrations one can noticed when using catadioptric sensors in
practical situations.
Reference
@inproceedings{jpt-omnivis02,
author = {Fabrizio, J. and Tarel, J.-P. and Benosman, R.},
title = {Calibration of Panoramic Catadioptric Sensors Made Easier},
booktitle = {Proceedings of IEEE Workshop on Omnidirectional Vision (Omnivis'02)},
date = {June 2nd},
pages = {45-52},
address = {Copenhagen, Denmark},
year = {2002},
note = {http://perso.lcpc.fr/tarel.jean-philippe/publis/omnivis02.html}
}
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