A NONITERATIVE PROCEDURE FOR RAPID AND PRECISE CAMERA CALIBRATION

A simple, rapid and precise camera calibration method is described by which the position and direction of a camera are calculated without using conventional iterative processes. Error parameters are defined as differences in the values of calculated intrinsic parameters from their fixed ones. Camera parameters are adjusted non-iteratively so that the error parameters become sufficiently small. The rotation matrix orthogonality constraints are completely preserved. Experimental error estimation using an actual mark image shows that the position error is less than 0.1 mm and that the direction error is less than 5 x 10(-4) rad, which correspond to relative errors of 5 x 10(-5) and 1 x 10(-4), respectively. These calibration procedures from the image acquisition to the result output are completed automatically within 6 s using a VAX11/780 (1 MIPS)