Calibration method for an omnidirectional multi-camera system

Telepresence systems using an omnidirectional image sensor enable us to experience remote site. A omnidirectional multi-camera system is more useful to acquire outdoor scenes than a monocular camera system, because the multi-camera system can easily capture high-resolution omnidirectional images. However, exact calibration of the camera system is necessary to virtualize the real world accurately. In this paper, we describe a geometric and photometric camera calibration and a panorama movie generation method for the omnidirectional multi-camera system. In the geometric calibration, intrinsic and extrinsic parameters of each camera are estimated using a calibration board and a laser measurement system called total station. In the photometric calibration, the limb darkening and color balances among the cameras are corrected. The result of the calibration is used in the panorama movie generation. In experiments, we have actually calibrated the multi-camera system and have generated spherical panorama movies by using the estimated camera parameters. A telepresence system was prototyped in order to confirm that the panorama movie can be used for telepresence well. In addition, we have evaluated the discontinuity in generated panoramic images.
Stereoscopic Displays and Virtual Reality Systems XII , Jan 21-23, 2003 , Santa Clara, CA, USA