Cornea-reflection-based Extrinsic Camera Calibration without a Direct View

Kosuke Takahashi, Dan Mikami, Mariko Isogawa, Akira Kojima


In this paper, we propose a novel method to extrinsically calibrate a camera to a 3D reference object that is not directly visible from the camera. We use the spherical human cornea as a mirror and calibrate the extrinsic parameters from the reflections of the reference points. The main contribution of this paper is to present a cornea-reflection-based calibration algorithm with minimal configuration; there are five reference points on a single plane and one mirror pose. In this paper, we derive a linear equation and obtain a closed-form solution of extrinsic calibration by introducing two key ideas. The first is to model the cornea as a virtual sphere, which enables us to estimate the center of the cornea sphere from its projection. The second idea is to use basis vectors to represent the position of the reference points, which enables us to deal with 3D information of reference points compactly. Besides, in order to make our method robust to observation noise, we minimize the reprojection error while maintaining the valid 3D geometry of the solution based on the derived linear equation. We demonstrate the advantages of the proposed method with qualitative and quantitative evaluations using synthesized and real data.


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Paper Citation

in Harvard Style

Takahashi K., Mikami D., Isogawa M. and Kojima A. (2016). Cornea-reflection-based Extrinsic Camera Calibration without a Direct View . In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016) ISBN 978-989-758-175-5, pages 15-24. DOI: 10.5220/0005675300150024

in Bibtex Style

author={Kosuke Takahashi and Dan Mikami and Mariko Isogawa and Akira Kojima},
title={Cornea-reflection-based Extrinsic Camera Calibration without a Direct View},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)},

in EndNote Style

JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2016)
TI - Cornea-reflection-based Extrinsic Camera Calibration without a Direct View
SN - 978-989-758-175-5
AU - Takahashi K.
AU - Mikami D.
AU - Isogawa M.
AU - Kojima A.
PY - 2016
SP - 15
EP - 24
DO - 10.5220/0005675300150024