Camera Calibration: A Quick and Easy Way to Determine the Scale Factor
IEEE Transactions on Pattern Analysis and Machine Intelligence
Camera calibration from spheres images
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Conic Reconstruction and Correspondence From Two Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
A buyer's guide to conic fitting
BMVC '95 Proceedings of the 6th British conference on Machine vision (Vol. 2)
Direct Least Square Fitting of Ellipses
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Nonmetric Calibration of Wide-Angle Lenses and Polycameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Epipolar geometry of central panoramic catadioptric cameras
Panoramic vision
Paracatadioptric Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Catadioptric Projective Geometry
International Journal of Computer Vision
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Geometric Properties of Central Catadioptric Line Images
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
A unifying geometric representation for central projection systems
Computer Vision and Image Understanding - Special issue on omnidirectional vision and camera networks
Geometric Interpretations of the Relation between the Image of the Absolute Conic and Sphere Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Omnidirectional Robot Vision Using Conformal Geometric Computing
Journal of Mathematical Imaging and Vision
Camera Calibration from Images of Spheres
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
A new linear algorithm for calibrating central catadioptric cameras
Pattern Recognition
Estimating parameters of noncentral catadioptric systems using bundle adjustment
Computer Vision and Image Understanding
Image-based path following control of mobile robots with central catadioptric cameras
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Wide-angle Visual Feature Matching for Outdoor Localization
International Journal of Robotics Research
Mirror localization for catadioptric imaging system by observing parallel light pairs
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Robotics and Autonomous Systems
A Space Variant Gradient Based Corner Detector for Sparse Omnidirectional Images
Journal of Mathematical Imaging and Vision
Camera Models and Fundamental Concepts Used in Geometric Computer Vision
Foundations and Trends® in Computer Graphics and Vision
RANSAC based ellipse detection with application to catadioptric camera calibration
ICONIP'10 Proceedings of the 17th international conference on Neural information processing: models and applications - Volume Part II
Automatic conic and line grouping for calibration of central catadioptric camera
CAIP'11 Proceedings of the 14th international conference on Computer analysis of images and patterns - Volume Part I
Calibration of omnidirectional cameras in practice: A comparison of methods
Computer Vision and Image Understanding
Interpreting sphere images using the double-contact theorem
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Calibrating effective focal length for central catadioptric cameras using one space line
Pattern Recognition Letters
A calibration method for paracatadioptric camera from sphere images
Pattern Recognition Letters
Self-calibration of hybrid central catadioptric and perspective cameras
Computer Vision and Image Understanding
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Central catadioptric cameras are imaging devices that use mirrors to enhance the field of view while preserving a single effective viewpoint. In this paper, we propose a novel method for the calibration of central catadioptric cameras using geometric invariants. Lines and spheres in space are all projected into conics in the catadioptric image plane. We prove that the projection of a line can provide three invariants whereas the projection of a sphere can only provide two. From these invariants, constraint equations for the intrinsic parameters of catadioptric camera are derived. Therefore, there are two kinds of variants of this novel method. The first one uses projections of lines and the second one uses projections of spheres. In general, the projections of two lines or three spheres are sufficient to achieve catadioptric camera calibration. One important conclusion in this paper is that the method based on projections of spheres is more robust and has higher accuracy than that based on projections of lines. The performances of our method are demonstrated by both the results of simulations and experiments with real images.