Camera Calibration Toolbox for Matlab
Camera Calibration Toolbox for Matlab
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References
- Flexible Camera Calibration by Viewing a Plane
from Unknown Orientations - Zhang, ICCV99, paper (803KB).
The main initialization
phase has been partially inspired from that paper. The initial
estimation of the planar homographies is identical to that presented
in that paper. The closed-form estimation of the internal parameters
from the homographies is slightly different (we explicitely use
orthogonality of vanishing points), and we do not estimate the
distortion coefficients at the initialization phase (we found that
step unnecessary in practice). The final Maximum Likelihood estimation
is identical. Minor difference: we use the intrinsic model presented
by Heikkilä and Silven including two extra distortion coefficients
corresponding to tangential distortion.
- A Four-step Camera Calibration Procedure with
Implicit Image Correction - Heikkilä and Silven, CVPR97,
paper (125KB).
The intrinsic
camera model has been inspired from that paper (8DOF). For more
information, go to that link.
- A versatile camera calibration technique for
high accuracy 3D machine vision metrology using off-the-shelf TV
cameras and lenses - R. Y. Tsai ,IEEE J. Robotics Automat. , pages
323-344, Vol. RA-3, No. 4 1987.
A seminal paper (3.2MB) on camera calibration.
- On Plane-Based Camera Calibration: A General
Algorithm, Singularities, Applications - Sturm and Maybank,
CVPR99, paper (119KB).
A very
interesting study of the singularities of calibrating based on planar
rigs. A very similar method of estimation based on planar
homographies.
- The Development of Camera Calibration Methods and Models - T.A. Clarke and J.G. Fryer,
Photogrammetric Record, 16(91): 51-66, April 1998, paper (60KB).
A remarkable paper covering the whole historical development of camera calibration techniques. An exhaustive literature survey. An amazing work that should not be missed!
Other publications from the same authors are available on the web site of the Optical Metrology Centre, a company based in the UK that offers camera calibration services and sells camera calibration software. This company is also mentioned on the links page.
- Close-Range Camera Calibration -
D.C. Brown, Photogrammetric Engineering, pages 855-866,
Vol. 37, No. 8, 1971.
One of the first introduction of the
camera model we use (radial + tangential distortion). A standard reference paper (864KB).
- Lens Distortion for Close-Range Photogrammetry -
J.G. Fryer and D.C. Brown, Photogrammetric Engineering and Remote Sensing Vol. 52(1)
pp 51-58, 1986.
Another standard reference paper.
- Decentering Distortion of Lenses -
D.C. Brown, Photometric Engineering, pages 444-462,
Vol. 32, No. 3, 1966.
One of the first introduction of the
decentering distortion model ("plumb bob" model). A standard reference paper. This distortion model is also known as the "Brown-Conrady model".
- Decentering lens systems -
A. Conrady, Monthly notices of the Royal Astronomical Society, Vol. 79, pages 384-390, 1919.
The very first introduction of the
decentering distortion model.
Toolboxes
-
Omnidirectional Calibration Toolbox Extension
Author: Christopher Mei, INRIA Sophia-Antipolis
- Omnidirectional Camera Calibration Toolbox for Matlab
Author: Davide Scaramuzza, Swiss Federal Institute of Technology Lausanne (EPFL), Switzerland
- standalone camera calibration application
Author: Danail Stoyanov, Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Imperial College London, United Kingdom
- fully automatic camera and hand eye calibration
Author: Christian Wengert, Swiss Federal Institute of Technology (ETHZ)
toolbox seems to be no longer available
- DLR CalDe and DLR CalLab is now freely
available for download (for non-commercial purposes only).
Authors: Klaus Strobl,
Wolfgang Sepp, Stefan Fuchs, Cristian Paredes and Klaus Arbter from the Institute of Robotics and Mechatronics.
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