Self-calibration of the intrinsic parameters of cameras for active vision systems

A new technique for the calibration of the intrinsic parameters of cameras for active vision systems is presented. By making deliberate camera motions, the intrinsics of the cameras can be calibrated based either on the positional difference of optical flow field (PDOFF) or the trajectories of features (TOF) on the image plane. A way to detect the distortion of a camera lens is also presented. The calibration method is simple, fast, reliable, and very easy to combine with task performing processes. The performance of the technique is illustrated. The method can be used for general calibration of camera intrinsics