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Multi-Camera Self-Calibration

Tomas Svoboda, Daniel Martinec, Tomas Pajdla

Matlab package for a complete and fully automatic calibration of multi-camera setups (3 cams min). A standard laser pointer is the only hardware you need. No calibration object and user interaction required.


 Waving an easily detectable spot is the only hand work required. The photograph shows an ordinary laser pointer slightly modified by attaching a small piece of transparent plastic. The spot projections are found fully automatically and with sub-pixel precision.

The result is a complete calibration in a metric coordinate system ready for 3D computation. The parameters of the nonlinear distortion are also estimated. The reprojection error is deeply below 1/2 pixels even for cameras with severe radial distortion.



  • The software is free and can be downloaded from
  • Publication: Tomas Svoboda, Daniel Martinec, and Tomas Pajdla. A convenient multi-camera self-calibration for virtual environments. PRESENCE: Teleoperators and Virtual Environments, 14(4), August 2005. pp 407-422. MIT Press
    Manuscript of the journal article [PDF, 1.7MB]. Its bib-entry.

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