Extrinsic camera calibration method and its performance evaluation

TL;DR

This paper introduces a method for extrinsic camera calibration using image sequences with known intrinsic parameters, and evaluates its performance on stereo datasets, facilitating improved 3D reconstruction accuracy.

Contribution

It proposes a new extrinsic calibration approach that reduces the number of keypoint correspondences needed, assuming known intrinsic parameters, and assesses its effectiveness on stereo datasets.

Findings

Method achieves accurate calibration with fewer keypoints

Performance evaluated on multiple stereo datasets

Suitable as initial step in dense stereo reconstruction

Abstract

This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during the entire sequence. %This allows to decrease a number of pairs of corresponding keypoints between images needed to estimate epipolar geometry compared to uncalibrated case. Performance of the presented method is evaluated on a number of multi-view stereo test datasets. Presented algorithm can be used as a first stage in a dense stereo reconstruction system.