Catadioptric systems are realizations of omnidirectional vision through mirror-lens combinations. Designs preserving the uniqueness of an e ective viewpoint have recently gained attraction. We present here a novel approach for estimating the intrinsic parameters of a well-known catadioptric system consisting of a p araboloid mirror and an orthographic lens. We introduce the geometry of catadioptric line projection and we show that the vanishing points lie on a conic section which encodes the entire c alibration information. Projections of two sets of parallel lines su ce for intrinsic calibration from one view as well as for metric rectication of a plane. Our approach overcomes limitations of existing manual calibration methods and was successfully tested on the task of back-warping real-images images onto virtual planes.
Geyer and Daniilidis REF use a paraboloid mirror and an orthographic lens.
Catadioptric camera calibration
Proceedings of the Seventh IEEE International Conference on Computer Vision
Proceedings of the Seventh IEEE International Conference on Computer Vision
Computer Science