Robust Camera Calibration and Evaluation Pr ocedure Based on Images Rectification and 3D Reconstruction

This paper presents a robust camera calibration algorithm based on contour matching of a known pattern object. The method does not require a fastidious selection of particular pattern points. We intro- duce two versions of our algorithm, depending on whether we dispose of a single or several calibration images. We propose an evaluation proce- dure which can be applied for all calibration methods for stereo systems with unlimited number of cameras. We apply this evaluation framework to 3 camera calibration techniques, our proposed robust algorithm, the modified Zhang algorithm implemented by J. bouguet and Faugeras- Toscani method. Experiments show that our proposed robust approach presents very good results in comparison with the two other methods. The proposed evaluation procedure gives a simple and interactive tool to evaluate any camera calibration method.