More accurate camera and hand-eye calibrations with unknown grid pattern dimensions

This paper presents two novel approaches for accurate intrinsic and extrinsic camera calibration. The rationale behind them is the widespread violation of the traditional assumption that the metric structure of the calibration object is perfectly known. A novel formulation parameterizes a checkerboard calibration pattern in such a way that the calibration performs optimally irrespective of its actual dimensions. Simulations and experiments show that it is very rare for traditional calibration methods to come by the accuracy readily attained by this approach.

[1]  Michel Dhome,et al.  Do We Really Need an Accurate Calibration Pattern to Achieve a Reliable Camera Calibration? , 1998, ECCV.

[2]  O. Faugeras,et al.  The Geometry of Multiple Images , 1999 .

[3]  Stephen J. Maybank,et al.  On plane-based camera calibration: A general algorithm, singularities, applications , 1999, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149).

[4]  Bill Triggs,et al.  Autocalibration from Planar Scenes , 1998, ECCV.

[5]  Jorge A. Sánchez,et al.  PLANE-BASED CAMERA CALIBRATION WITHOUT DIRECT OPTIMIZATION ALGORITHMS , 2006 .

[6]  Zhengyou Zhang,et al.  A Flexible New Technique for Camera Calibration , 2000, IEEE Trans. Pattern Anal. Mach. Intell..

[7]  Paul F. Whelan,et al.  Which pattern? Biasing aspects of planar calibration patterns and detection methods , 2007, Pattern Recognit. Lett..

[8]  Gerd Hirzinger,et al.  Optimal Hand-Eye Calibration , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Toru Tamaki.  Unified Approach to Image Distortion: D-U and U-D Models , 2005, IEICE Trans. Inf. Syst..

[10]  Anders Heyden,et al.  Stereo head calibration from a planar object , 2001, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001.

[11]  Wei Sun,et al.  An empirical evaluation of factors influencing camera calibration accuracy using three publicly available techniques , 2006, Machine Vision and Applications.

[12]  R. MELDOLA,et al.  The Optics of Photography , 1894, Nature.

[13]  Paul R. Cohen,et al.  Camera Calibration with Distortion Models and Accuracy Evaluation , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[14]  Roger Y. Tsai,et al.  A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses , 1987, IEEE J. Robotics Autom..