IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE i Using Points at Infinity for Parameter Decoupling in Camera Calibration

The majority of camera calibration methods, including the Gold Standard algorithm, use point based information and simultaneously estimate all calibration parameters. In contrast, we propose a novel calibration method that exploits line orientation information and decouples the problem into two simpler stages. We formulate the problem as minimisation of the lateral displacement between single projected image lines and their vanishing points. Unlike previous vanishing point methods, parallel line pairs are not required. Additionally, the invariance properties of vanishing points mean that multiple images related by pure translation can be used to increase the calibration dataset size without increasing the number of estimated parameters. We compare the method with vanishing point methods and the Gold Standard algorithm and demonstrate that it has comparable performance