A New Linear Calibration Method for Paracatadioptric Cameras

We propose a new calibration method for the paracatadioptric cameras using one image of at least three observed lines. This method is based on the Geyer & Daniilidis (2002) one but has two main advantages. First, a geometric distance is used to compute the camera parameters instead of an algebraic distance. Second, it allows to deal with lines that are projected to straight lines or to circular arcs in an unified manner. We provide a geometric interpretation of the algorithm: The line images are firstly projected to a virtual paraboloid, then planes are fitted on these projections and their intersection finally provides the camera parameters. Thanks to this new formulation, the method is also able to deal very efficiently with outliers. We compare results with existing methods from Geyer & Daniilidis and from Barreto & Araujo (2003)