A practical multi-plane method for a low-cost camera calibration technique

This work presents a camera calibration technique based on the use of two (or more) independent calibration planes. It's robust with respect to noise and plane configurations, and it is suited for in situ image acquisition in the context of robot vision. The use of independent calibration planes for getting 3D test points without any knowledge about their relative displacement and without the need of an expensive calibration setup is a major advantage of the proposed method. The framework proposed here is believed to have important applications for robot eye-hand systems.