A method is proposed for calibrating Catadioptric Omnidirectional Vision Systems. This method, similarly to classic camera calibration, makes use of a set of fiducial points to find the parameters of the geometric image formation model. The method makes no particular assumption regarding the shape of the mirror or its position with respect to the camera. Given the camera intrinsic parameters and the mirror profile, the mirror pose is computed using the projection of the mirror border and, eventually, the extrinsic parameters are computed by minimizing distance between fiducial points and back-projected images
Sorrenti, D., Matteucci, M., Colombo, A. (2007). On the calibration of non single viewpoint catadioptric sensors. In ROBOCUP 2006: ROBOT SOCCER WORLD CUP X (pp.194-205). Springer [10.1007/978-3-540-74024-7].
On the calibration of non single viewpoint catadioptric sensors
Sorrenti, DG;
2007
Abstract
A method is proposed for calibrating Catadioptric Omnidirectional Vision Systems. This method, similarly to classic camera calibration, makes use of a set of fiducial points to find the parameters of the geometric image formation model. The method makes no particular assumption regarding the shape of the mirror or its position with respect to the camera. Given the camera intrinsic parameters and the mirror profile, the mirror pose is computed using the projection of the mirror border and, eventually, the extrinsic parameters are computed by minimizing distance between fiducial points and back-projected images
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