Patent ID: 8885051

Claim:
A camera calibration method configured to determine internal parameters of a camera through deducing a trajectory of an incident ray to each pixel, comprising: a first line light source moving step of moving a line light source with respect to a reference position in a direction different from a longitudinal direction of the line light source, and storing a position of the line light source for each individual pixel where the incident ray from the line light source is photographed by each pixel; a second line light source moving step of moving the line light source with respect to the reference position in a direction different from both the longitudinal direction of the line light source and the direction of the first line light moving step, and storing a position of the line light source for each pixel where the incident ray from the line light source is photographed by each pixel; a third line light source moving step of moving the line light source with respect to the reference position in a direction different from the longitudinal direction of the line light source and with a distance to the reference position different from that in the first and second line light source moving steps, and storing a position of the line light source for each individual pixel where the incident ray from the line light source is photographed by each pixel; and a fourth line light source moving step of moving the line light source with respect to the reference position in a direction different from both the longitudinal direction of the line light source and the direction of the third line light moving step and with a distance to the reference position different from that in the first and second line light source moving steps, and storing a position of the line light source for each individual pixel where the incident ray from the line light source is photographed by each pixel; and a trajectory deducing step of deducing a straight line with a minimum distance to the positions of the line light source stored in the first line light source moving step to the fourth light source moving step for each individual pixel, respectively, as the trajectory of the incident ray to each pixel.