Robert T. Collins and Yanghai Tsin,
"Calibration of an Outdoor Active Camera System,"
IEEE Computer Vision and Pattern Recognition, 1999.
also CMU Robotics Institute tech report CMU-RI-TR-98-36, Dec 1998.
A parametric camera model and calibration procedures are
developed for an outdoor active camera system with pan, tilt and zoom
control. Unlike traditional methods, active camera motion plays a key
role in the calibration process, and no special laboratory setups are
required. Intrinsic parameters are estimated automatically by fitting
parametric models to the optic flow induced by rotating and zooming.
No knowledge of 3D scene structure is needed. Extrinsic parameters
are calculated by actively rotating the camera to sight a sparse set
of surveyed landmarks over a virtual hemispherical field of view,
yielding a well-conditioned pose estimation problem.
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