Camera Calibration Using Two Concentric Circles

We present a simple calibration method for computing the extrinsic parameters (pose) and intrinsic parameters (focal length and principal point) of a camera by imaging a pattern of known geometry. Usually, the patterns used in calibration algorithms are complex to build (three orthogonal planes) or need a lot of features (checkerboard-like pattern). We propose using just two concentric circles that, when projected onto the image, become two ellipses. With a simple mark close to the outer circle, our algorithm can recover the full pose of the camera.

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