Estimating the Pose and Focal Length of a Camera from the Perspective Projection of a Planar Calibration Plate

摘要

This paper presents a new method for estimating the pose and focal length of a digital camera from the perspective projection of a planar calibration plate. The equations relating the coefficients of this transformation to the pose parameters are presented in the paper and, from these, a simple nonlinear equation is derived which allows the estimation of the pixel aspect ratio. Based on this value, all pose parameters can be determined along with the focal length of the camera. The effectiveness of our pose estimation method is confirmed by the experimental results with synthetic and real data reported in the paper.