A new self-calibration technique via epipoles

摘要

In this paper, a new active vision based camera self-calibration technique is proposed. The novelty of this new technique is that it can determine LINEARLY all the FIVE intrinsic parameters of the camera. To our knowledge, the techniques reported in the literature up to now can only cope with four of the five ones linearly, in other words, when the skew factor is non-zero, all such techniques become invalid. The basic principle of our new calibration technique is to control the camera to undergo several (N≥5) sets of orthogonal planar motions and to use epipoles to linearly calibrate the camera. In addition, the uniqueness of the solution with respect to the configurations of the camera's motions is also investigated. The experiments with simulated data and real images show that the proposed technique can achieve fairly good results.