Emerging Topics in Computer Vision

2.4. Camera Calibration with 2D Objects: Plane-Based Technique

In this section, we describe how a camera can be calibrated using a moving plane. We first examine the constraints on the camera's intrinsic parameters provided by observing a single plane.

2.4.1. Homography between the model plane and its image

Without loss of generality, we assume the model plane is on Z = 0 of the world coordinate system. Let's denote the i-th column of the rotation matrix R by r_i. From (2.1), we have

By abuse of notation, we still use M to denote a point on the model plane, but M = [X, Y]^T, since Z is always equal to 0. In turn, . Therefore, a model point M and ...