The simple camera calibration approach based on a triangle and depth estimation from monocular vision

Authors:
Qizhi Wang;Xinyu Cheng
Affiliations:
School of Computer and Information Technology, Beijing Jiaotong University, Beijing, P.R. China;School of Computer and Information Technology, Beijing Jiaotong University, Beijing, P.R. China
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A simple flexible technique is proposed to easily calibrate five intrinsic parameters a camera based on the three side lengths of a triangle. The technique only requires taking the template with a triangle, and matching the three vertices of the triangle between the template and its image. Analytical solution is given to guarantee algorithm accomplishment successfully. The essential relations for intrinsic parameters of camera were discussed in theory and the calibration algorithm efficiency was rigorously and completely analyzed. At present depth estimation of an object in computer vision and robotics is most commonly done by triangulating and estimating distance from two cameras. Depth estimation from a camera is deeply investigated in this paper. The real data experimental results show that the techniques are very simple high accurate and efficient.