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Carnegie Mellon Robotics Institute

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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",
}

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