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# CALIBRATION

## Thanks to Ramani Duraiswami and

Zhengyou Zhang for the use of some
slides
Shortcomings
Use precisely known 3D points

## Shortcomings: Not flexible

very expensive to make such a calibration
apparatus.
Zhangs approach
Use only one plane
Print a pattern on a paper
Attach the paper on a planar surface
Show the plane freely a few times to the camera
Camera Model

x
M y
z
(u0 , v0 )

m
C
(R, t )

x
u u0 y
s v 0 v0 r1 r2 r3 t
z
1 0 0 1 R t

1
~
m A ~
M
Plane projection
For convenience, assume the plane at z = 0.
x
u M
v y
(u0 , v0 )
z0
m
C

## The relation between image points and

model points is then given by:
~ ~ with H Ar r t
sm HM 1 2
What do we get from one image?
We can obtain two equations in 6
intermediate homogeneous parameters.

## Given H, which is defined up to a scale factor,

And let H h1 h 2 h3 , we have
h1 h2 h3 Ar1 r2 t
This yields
T T 1
h1 A A h 2 0
T T 1 T T 1
h1 A A h1 h 2 A A h 2
Linear Equations
B11 B12 B13
Let B A T A 1 B21 B22 B23

symmetric
B31 B32 B33
Define
b B11 B12 B22 B13 B23 B33
up to a scale factor
Rewrite
h1T A T A 1h 2 0
h1T A T A 1h1 hT2 A T A 1h 2
as linear equations:
Mb 0
What do we get from 2 images?
If we impose = 0, which is usually the case
with modern cameras, we can solve all the
other camera intrinsic parameters.