Camera calibration with coplanar calibration board near parallel to the imaging plane

This paper presents a novel approach capable of estimating camera parameters under the condition that the calibration board is near parallel (or parallel) to the imaging plane. A camera calibration model for the near parallel condition is suggested. In the first step, based on the modified radial alignment constraint, the yaw angle and the X and Y translation components are analytically computed. In the second step, the closed-form solutions to the remaining parameters are provided by combining Gauss lens model with camera model, and they are refined by a nonlinear minimization procedure. Simulations and experiments are performed to verify the proposed camera calibration algorithm, and the precision of the automatic camera calibration scheme is also evaluated. (c) 2006 Elsevier B.V. All rights reserved.