Calibration of an Outdoor Active Camera System

Robert Collins and Yanghai Tsin
tech. report CMU-RI-TR-98-36, Robotics Institute, Carnegie Mellon University, 1998


Download
  • Adobe portable document format (pdf) (258KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
A parametric camera model and calibration procedures are developed for an outdoor active camera system with pan, tilt and zoom control. Unlike traditional methods, active camera motion plays a key role in the calibration process, and no special laboratory setups are required. Intrinsic pa-rameters are estimated automatically by fitting parametric models to the optic flow induced by rotating and zooming. No knowledge of 3D scene structure is needed. Extrinsic parameters are calculated by actively rotating the camera to sight a sparse set of surveyed landmarks over a virtual hemispherical field of view, yielding a well-conditioned pose estimation problem.

Notes
Sponsor: DARPA
Grant ID: DAAB07-97-C-J031.

Text Reference
Robert Collins and Yanghai Tsin, "Calibration of an Outdoor Active Camera System," tech. report CMU-RI-TR-98-36, Robotics Institute, Carnegie Mellon University, 1998

BibTeX Reference
@techreport{Collins_1998_477,
   author = "Robert Collins and Yanghai Tsin",
   title = "Calibration of an Outdoor Active Camera System",
   booktitle = "",
   institution = "Robotics Institute",
   year = "1998",
   number= "CMU-RI-TR-98-36",
   address= "Pittsburgh, PA",
}