A Variational Approach to Problems in Calibration of Multiple Cameras
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This paper addresses the problem of calibrating camera lensdistortion, which can be significant in medium to wide anglelenses. While almost all existing nonmetric distortion calibrationmethods need user involvement in one form or another, we present anautomatic approach based on the robust the-least-median-of-squares(LMedS) estimator. Our approach is thus less sensitive to erroneousinput data such as image curves that are mistakenly considered asprojections of 3D linear segments. Our approach uniquely uses fast,closed-form solutions to the distortion coefficients, which serveas an initial point for a non-linear optimization algorithm tostraighten imaged lines. Moreover we propose a method fordistortion model selection based on geometrical inference.Successful experiments to evaluate the performance of this approachon synthetic and real data are reported.