IS = { zkontrolovano 30 Dec 2005 },
  UPDATE  = { 2004-08-13 },
  author =   { Svoboda, Tom{\'a}{\v s} and Martinec, Daniel and
                   Pajdla, Tom{\'a}{\v s} },
  title =   { A Convenient Multi-Camera Self-Calibration for
                   Virtual Environments },
  journal =   { PRESENCE: Teleoperators and Virtual Environments },
  publisher =   { The MIT Press },
  address =   {Cambridge, USA},
  issn =   {1054-7460},
  year =   {2005},
volume      = { 14 },
number      = { 4 },
pages       = { 407-422 },
month       = { August },
  authorship =   {60-30-10},
  psurl =   {[PDF, 1.7MB]},
  project  = { 1ET101210407, IST-2001-39184, 
               1M0567, 1ET101210406, 
               Dur IG2003-2 062, CONEX GZ 45.535 },
  keywords =   { camera calibration, selfcalibration, multicamera
                   calibration, virtual room, camera dome },
  annote = { Virtual immersive environments or telepresence setups
    often consist of multiple cameras which have to be calibrated. We
    present a convenient method for doing this. The minimum is three
    cameras, but there is no upper limit. The method is fully
    automatic and a freely moving bright spot is the only calibration
    object. A set of virtual 3D points is made by waving the bright
    spot through the working volume. Its projections are found with
    sub-pixel precision and verified by a robust RANSAC analysis. The
    cameras do not have to see all points, only reasonable overlap
    between camera subgroups is necessary. Projective structures are
    computed via rank-4 factorization and the Euclidean stratification
    is done by imposing geometric constraints. This linear estimate
    initializes a post-processing computation of non-linear distortion
    which is also fully automatic. We suggest a trick on how to use a
    very ordinary laser pointer as the calibration object. We show
    that it is possible to calibrate an immersive virtual environment
    with 16 cameras in less than 30 minutes reaching about 1/5 pixel
    reprojection error. The method has been successfully tested on
    numerous multi-camera environments with a varying number and
    quality of cameras used. },
www         = { http://cmp.felk.cvut.cz/~svoboda/SelfCal/index.html },