smadjaCylindrical Sensor Calibration using Lines

L. Smadja, R. Benosman and J. Devars
LISIF, Université P. et M. Curie

Abstract

This paper deals with the calibration of a cylindric
omnidirectional imaging system, based on a rotating $2048$ pixels
linear camera which provides high definition panoramas.

The two-steps algorithm relies on line segments projections as
calibration features, which are sinusoidal curves. A cylindrical
line images detection algorithm is proposed, based on the dual
principle of the Hough transform. Moreover, the use of Plucker
coordinates introduces some new characteristics in the calibration
process. This kind of formalism allow a linearization of the
cylindrical projection, which is non-linear in the usual way.

Results obtained from this first step are used to evaluate one of
the intrinsics, the other one being determined by a linear
criterion minimization in the dual space, \emph{ie} the sines
magnitudes space


Keywords :

Non-Linear Calibration, Omnidirectional Imaging System, Plucker
and Hough Formalisms.



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