A simple cue-based method for camera calibration and 3-D shape measurement with a single moving camera

We present a simple cue-based method for camera calibration aimed at 3-D shape measurement with a single domestic camera. This method performs both camera calibration and measurement of the 3-D shape simultaneously by projecting objects of measurement along with a cue object having feature points onto one image plane while moving the single camera by hand. Our proposed method requires only four coplanar points, and hence the use of a simple geometrical structure such as A4 size paper as the cue object allows us to perform measurement of the 3-D shape easily without special equipment. Furthermore, the method modifies the observed feature points´ coordinates with the optimization method which formulates the orthogonality constraint between coordinate axes given by the camera calibration