Hand-eye calibration with epipolar constraints: Application to endoscopy
In this paper, we propose a new calibration method for a hand-eye system equipped with a camera undergoing radial distortion as a rigid endoscope. While classic methods propose either a separated estimation of the camera intrinsics and the hand-eye transform or a mixed non-linear estimation of both hand-eye and camera intrinsics assuming a pin-hole model, the proposed approach enables a simultaneous refinement of the hand-eye and the camera parameters including the distortion factor with only three frames of the calibrated pattern. We propose and compare two criteria to minimize: (i) the first one is based on the epipolar constraint between pairs of frames and (ii) the second one expresses the camera extrinsic with respect to hand-eye and world-grid transforms in the single frame reprojection error. We run bundle-adjustment on each criterion with respect to the distortion parameters, the camera intrinsics and the hand-eye transform. Our method allows us to recover more accurate 3D shapes when compared to state-of-the-art non-linear methods. (C) 2012 Elsevier B.V. All rights reserved.
hand-eye calibration endoscopy radial distortion 3d reconstruction