On the Calibration of Non Single Viewpoint Catadioptric Sensors

Authors:
Alberto Colombo;Matteo Matteucci;Domenico G. Sorrenti
Affiliations:
Università degli Studi di Milano Bicocca, Dipartimento di Informatica, Sistemistica e Comunicazione,;Politecnico di Milano, Dipartimento di Elettronica e Informazione,;Università degli Studi di Milano Bicocca, Dipartimento di Informatica, Sistemistica e Comunicazione,
Venue:
RoboCup 2006: Robot Soccer World Cup X
Year:
2006

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Abstract

A method is proposed for calibrating Catadioptric Omni-directional Vision Systems. This method, similarly to classic camera calibration, makes use of a set of fiducial points to find the parameters of the geometric image formation model. The method makes no particular assumption regarding the shape of the mirror or its position with respect to the camera. Given the camera intrinsic parameters and the mirror profile, the mirror pose is computed using the projection of the mirror border and, eventually, the extrinsic parameters are computed by minimizing distance between fiducial points and back-projected images.