An Optimal Solution for Mobile Camera Calibration

Abstract

This paper addresses the problem of determining the intrinsic and extrinsic parameters of a mobile camera. We present an optimal solution which consists of the following steps: first, the camera is calibrated in several working positions and for each position, the corresponding transformation matrix is computed using a method developed by Faugeras and Toscani [1]; next, optimal intrinsic parameters are searched for all positions; finally, for each separate position, optimal extrinsic parameters are computed by minimizing a mean square error through a closed form solution. Experimental results show that such a technique yields a spectacular reduction of calibration errors and a considerable gain relative to other existing on-site calibration techniques.