Active Camera Calibration
Robert T. Collins, Robotics Institute, Carnegie Mellon University
We have developed a parametric camera model and calibration procedures
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.
To get the paper
R.Collins and Y.Tsin, "Calibration of an Outdoor Active Camera
System," IEEE Computer Vision and Pattern Recognition (CVPR'99),
Ft.Collins, CO, June 23-25, 1999.
CMU Landmark-Based Pose Dataset
As part of the process of calibrating a network of outdoor active sensors
mounted on campus, I have put together a test dataset for landmark-based
pose algorithms. Also included is source code for extrinsic camera
calibration, as described in the CVPR'99 paper.
Follow this link to get the dataset:
CMU Landmark-Based Pose Dataset.