Calibration of omnidirectional cameras in practice: A comparison of methods

Computer Vision and Image Understanding

Volumn 116, Issue 1, 2012, Pages 120-137

  Puig, Luis ^a   Bermudez J ^b   Sturm, Peter ^c   Guerrero, J J ^a  

^a UNIVERSITY OF ZARAGOZA   (Spain)

^b Division of Industrial Systems   (Spain)

^c UNIV GRENOBLE ALPES   (France)

Author keywords

Calibration; Catadioptric systems; Omnidirectional camera; Scene reconstruction

Indexed keywords

COMPUTER VISION; ROBOTICS; VIDEO CAMERAS;

CALIBRATION ACCURACY; CAMERA CALIBRATION; COMPARISON OF METHODS; EVALUATION PROTOCOL; METRIC RECONSTRUCTION; OMNIDIRECTIONAL CAMERAS; OMNIDIRECTIONAL IMAGE; SCENE RECONSTRUCTION;

CALIBRATION;

EID: 81355135433     PISSN: 10773142     EISSN: 1090235X     Source Type: Journal    
DOI: 10.1016/j.cviu.2011.08.003     Document Type: Article

References (44)

1. S. Baker, and S. Nayar A theory of single-viewpoint catadioptric image formation International Journal of Computer Vision 35 2 1999 175 196 (Pubitemid 32210850)
2. P. Sturm, S. Ramalingam, J.-P. Tardif, S. Gasparini, and J. Barreto Camera models and fundamental concepts used in geometric computer vision Foundations and Trends in Computer Graphics and Vision 6 1-2 2011 1 183
3. T. Svoboda, and T. Pajdla Epipolar geometry for central catadioptric cameras International Journal of Computer Vision 49 1 2002 23 37
4. D. Strelow, J. Mishler, D. Koes, S. Singh, Precise omnidirectional camera calibration, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, CVPR 2001, vol. 1, 2001, pp. I-689-I-694. ISSN:1063-6919.
5. C. Geyer, K. Daniilidis, A unifying theory for central panoramic systems and practical applications, in: Proceedings of the 6th European Conference on Computer Vision-Part II, London, UK, 2000, pp. 445-461, ISBN:3-540-67686-4.
6. J.P. Barreto, H. Araujo, Issues on the geometry of central catadioptric image formation, in: Proceedings of the Conference on Computer Vision and Pattern Recognition, CVPR 2001, vol. 2, 2001, p. 422, ISSN:1063-6919.
7. X. Ying, and Z. Hu Catadioptric camera calibration using geometric invariants IEEE Transactions on Pattern Analysis and Machine Intelligence 26 10 2004 1260 1271 ISSN:0162-8828
8. R. Swaminathan, S. Nayar, Non-metric calibration of wide-angle lenses and polycameras, in: Computer Vision and Pattern Recognition, 1999, IEEE Computer Society Conference on, vol. 22, 1999, pp. 1172-1178.
9. B. Micusik, T. Pajdla, Estimation of omnidirectional camera model from epipolar geometry, in: Computer Vision and Pattern Recognition, vol. 1, 2003, pp. I-485-I-490, ISSN:1063-6919.
10. J. Kannala, S. Brandt, A generic camera calibration method for fish-eye lenses, in: Proceedings of the 17th International Conference on Pattern Recognition, ICPR 2004, vol. 1, 2004, pp. 10-13, ISSN:1051-4651.
11. J. Courbon, Y. Mezouar, L. Eck, P. Martinet, A generic fisheye camera model for robotic applications, in: Intelligent Robots and Systems, 2007, IROS 2007, IEEE/RSJ International Conference on, 2007, pp. 1683-1688.
12. M. Grossberg, S. Nayar, A general imaging model and a method for finding its parameters, in: Proceedings of the Eighth IEEE International Conference on Computer Vision, ICCV 2001, vol. 2, 2001, pp. 108-115. (Pubitemid 32795047)
13. S. Ramalingam, P. Sturm, S. Lodha, Towards complete generic camera calibration, in: Proceedings of the Conference on Computer Vision and Pattern Recognition. CVPR 2005, vol. 1, 2005, pp. 1093-1098, ISSN:1063-6919. (Pubitemid 43897314)
14. O. Morel, D. Fofi, Calibration of catadioptric sensors by polarization imaging, in: IEEE International Conference on Robotics and Automation, 2007, pp. 3939-3944, ISSN:1050-4729. (Pubitemid 350140795)
15. D. Scaramuzza, A. Martinelli, R. Siegwart, A flexible technique for accurate omnidirectional camera calibration and structure from motion, in: Proceedings of IEEE International Conference on Computer Vision Systems, 2006.
16. C. Mei, P. Rives, Single view point omnidirectional camera calibration from planar grids, in: IEEE International Conference on Robotics and Automation, 2007, pp. 3945-3950, ISSN:1050-4729. (Pubitemid 350140796)
17. X.-M. Deng, F.-C. Wu, and Y.-H. Wu An easy calibration method for central catadioptric cameras Acta Automatica Sinica 33 8 2007 801 808 ISSN:1874-1029 (Pubitemid 47375871)
18. O. Frank, R. Katz, C. Tisse, H. Durrant Whyte, Camera calibration for miniature, low-cost, wide-angle imaging systems, in: British Machine Vision Conference, 2007.
19. S. Gasparini, P. Sturm, J.P. Barreto, Plane-based calibration of central catadioptric cameras, in: Computer Vision, 2009 IEEE 12th International Conference on, 2009, pp. 1195-1202, ISSN:1550-5499.
20. L. Puig, Y. Bastanlar, P. Sturm, J.J. Guerrero, and J. Barreto Calibration of central catadioptric cameras using a DLT-like approach International Journal of Computer Vision 93 2011 101 114 ISSN:0920-5691
21. Y. Bastanlar, L. Puig, P. Sturm, J.J. Guerrero, J. Barreto, DLT-like calibration of central catadioptric cameras, in: Workshop on Omnidirectional Vision, Camera Networks and Non-Classical Cameras, Marseille, France, 2008.
22. C. Toepfer, T. Ehlgen, A unifying omnidirectional camera model and its applications, in: Proceedings of the 11th International Conference on Computer Vision, ICCV 2007, pp. 1-5, ISSN:1550-5499.
23. C. Geyer, and K. Daniilidis Paracatadioptric camera calibration IEEE Transactions on Pattern Analysis and Machine Intelligence 24 5 2002 687 695 ISSN:0162-882 (Pubitemid 34550434)
24. C. Geyer, K. Daniilidis, Catadioptric camera calibration, in: Proceedings of the 7th IEEE International Conference on Computer Vision, vol. 1, 1999, pp. 398-404. (Pubitemid 32080068)
25. J.P. Barreto, H. Araujo, Geometric properties of central catadioptric line images, in: Proceedings of the 7th European Conference on Computer Vision-Part IV, ECCV '02, London, UK, 2002, pp. 237-251, ISBN:3-540-43748-7.
26. J.P. Barreto, and H. Araujo Geometric properties of central catadioptric line images and their application in calibration IEEE Transactions on Pattern Analysis and Machine Intelligence 27 8 2005 1327 1333 (Pubitemid 41245061)
27. X. Ying, H. Zha, Simultaneously calibrating catadioptric camera and detecting line features using Hough transform, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, IROS 2005, pp. 412-417.
28. B. Vandeportaele, M. Cattoen, P. Marthon, P. Gurdjos, A new linear calibration method for Paracatadioptric cameras, in: Proceedings of the 18th International Conference on Pattern Recognition, ICPR 2006, vol. 4, 2006, pp. 647-651.
29. Y. Wu, Y. Li, Z. Hu, Easy calibration for para-catadioptric-like camera, in: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 5719-5724. (Pubitemid 46928852)
30. V. Caglioti, P. Taddei, G. Boracchi, S. Gasparini, A. Giusti, Single-image calibration of off-axis catadioptric cameras using lines, in: Proceedings of the 11th IEEE International Conference on Computer Vision, ICCV 2007, pp. 1-6.
31. F. Wu, F. Duan, Z. Hu, and Y. Wu A new linear algorithm for calibrating central catadioptric cameras Pattern Recognition 41 10 2008 3166 3172 ISSN:0031-3203
32. S.B. Kang, Catadioptric self-calibration, in: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, vol. 1, 2000, pp. 201-207.
33. B. Micusik, and T. Pajdla Structure from motion with wide circular field of view cameras IEEE Transactions on Pattern Analysis and Machine Intelligence 28 7 2006 1135 1149 ISSN:0162-8828
34. S. Ramalingam, P. Sturm, and S.K. Lodha Generic self-calibration of central cameras Computer Vision and Image Understanding 114 2 2010 210 219 ISSN:1077-3142, special issue on Omnidirectional Vision, Camera Networks and Non-conventional Cameras
35. F. Espuny, and J. Burgos Gil Generic self-calibration of central cameras from two rotational flows International Journal of Computer Vision 91 2011 131 145 10.1007/s11263-010-0335-9 ISSN:0920-5691
36. R. Tsai A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses Robotics and Automation, IEEE Journal of 3 4 1987 323 344 ISSN:0882-4967 (Pubitemid 18521694)
37. P. Vasseur, E.M. Mouaddib, Central catadioptric line detection, in: British Machine Vision Conference, 2004.
38. D. Aliaga, Accurate catadioptric calibration for real-time pose estimation in room-size environments, in: Proceedings of the 8th IEEE International Conference on Computer Vision, ICCV 2001, vol. 1, pp. 127-134.
39. Y. Wu, Z. Hu, Geometric invariants and applications under catadioptric camera model, IEEE International Conference on Computer Vision 2 (2005) 1547-1554, ISSN:1550-5499. (Pubitemid 44042361)
40. P. Sturm, and S. Ramalingam A generic concept for camera calibration T. Pajdla, J. Matas, Computer Vision - ECCV 2004 Lecture Notes in Computer Science vol. 3022 2004 Springer Berlin, Heidelberg 1 13
41. J.P. Barreto, and K. Daniilidis Epipolar geometry of central projection systems using veronese maps Computer Vision and Pattern Recognition 2006 IEEE Computer Society Washington, DC, USA 1258 1265 ISBN:0-7695-2597-0 (Pubitemid 44931465)
42. P. Sturm, Mixing catadioptric and perspective cameras, in: Workshop on Omnidirectional Vision, Copenhagen, Denmark, 2002, pp. 37-44.
43. J. Heikkila, O. Silven, A four-step camera calibration procedure with implicit image correction, in: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1997, pp. 1106-1112.
44. R.I. Hartley, and A. Zisserman Multiple View Geometry in Computer Vision 2000 Cambridge University Press ISBN:0521623049