Robotics and Computer Vision Laboratory Login  
  Robotics and Computer Vision Laboratory kaist logo
Archive Courses

Home  >  Research  >  Publications euclidean struc

[International Conference] Euclidean Structure from Confocal Conics: Theory and Application to Camera Calibration
Pierre Gurdijos , Jun-sik Kim , In So Kweon
Proceeding of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) , July 2006
  CVPR06_ConfocalConics.pdf CVPR06_ConfocalConics.pdf (770.6K) [98]
Plane-based calibration is now a very popular procedure because of its flexibility. One key step consists in detecting a set of coplanar features, from which the Euclidean structure of the corresponding 3D plane has to be computed. We suggest to use confocal conics as calibration targets, as they offer undeniable advantages over other ones (e.g., points or lines) in terms of detection and estimation, especially in the presence of partial occlusion. We introduce important projective and Euclidean properties of the linear family of conics (i.e., the confocal conic range), spanned by two confocal conics. In particular, we rely on the fact that the circular point-envelope – a rank-2 conic that encodes the 2D Euclidean structure – is a degenerate member of any confocal conic range. This allows us to give closed-form solutions in three cases: one conic with known foci, two confocal conics with known product of ratios of semi axes, and two unknown confocal conics. The performances of the proposed algorithms (consisting of a few lines of Matlab-like code) show up high accuracies for both intrinsic and extrinsic camera parameters. In addition to experiments with synthetic data, a video sequence is processed, showing off the interest of using confocal conics as calibration targets, for augmented reality purposes.


Robotics and Computer Vision Laboratory
KAIST | Electrical Engineering | Contact Us | Sitemap