Practical multi-camera calibration algorithm with 1D objects for virtual environments

A new calibration algorithm for multi-camera systems using the 1D calibration objects is proposed. The algorithm integrates the rank-4 factorization with Zhangpsilas method. The intrinsic parameters as well as the extrinsic parameters are recovered only by capturing with cameras the 1D objectpsilas rotations around a fixed point. The algorithm is based on factorization of the scaled measurement matrix, the projective depths of which is estimated in an analytic equation instead of a recursive form. For the conditions that there are more than 3 points on the 1D object, our algorithm may solve them by extending the scaled measurement matrix. The obtained parameters are finally refined through the maximum likelihood inference. The validity of the proposed technique was verified through simulation and experiments with real images.