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Reports Year : 2005

Theory and Experiments towards Complete Generic Calibration

Peter Sturm
Suresh K. Lodha
  • Function : Author


We consider the problem of calibrating a highly generic imaging model, that consists of a non-parametric association of a projection ray in 3D to every pixel in an image. Previous calibration approaches for this model do not seem to be directly applicable for cameras with large fields of view. In this paper, we describe a complete calibration approach that should in principle be able to handle any camera that can be described by the generic imaging model. Several contributions are provided. We show how to use the images of multiple calibration grids simultaneously, thus increasing the accuracy. This allows to calibrate an image region where these grids overlap. We then show how to calibrate the whole image, by iteratively estimating the pose of calibration grids and computing projection rays. A bundle adjustment procedure is also proposed, and several practical issues are discussed. The proposed approach has been applied on a wide variety of central and non-central cameras including fisheye lens, catadioptric cameras with spherical and hyperbolic mirrors, and multi-camera setups. We also consider the question if non-central models are more appropriate for certain cameras than central models.


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Dates and versions

inria-00070444 , version 1 (19-05-2006)


  • HAL Id : inria-00070444 , version 1


Srikumar Ramalingam, Peter Sturm, Suresh K. Lodha. Theory and Experiments towards Complete Generic Calibration. RR-5562, INRIA. 2005, pp.22. ⟨inria-00070444⟩
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