Perdigoto, LuísAraujo, Helder2026-03-122026-03-122013-08Luis Perdigoto, Helder Araujo, Calibration of mirror position and extrinsic parameters in axial non-central catadioptric systems, Computer Vision and Image Understanding, Volume 117, Issue 8, 2013, Pages 909-921, ISSN 1077-3142, https://doi.org/10.1016/j.cviu.2013.04.001.1077-3142http://hdl.handle.net/10400.8/15863We propose a novel calibration method for catadioptric systems made up of an axial symmetrical mirror and a pinhole camera with its optical center located at the mirror axis. The calibration estimates the relative camera/mirror position and the extrinsic rotation and translation w.r.t. the world frame. The procedure requires a single image of a (possibly planar) calibration object. We show how most of the calibration parameters can be estimated using linear methods (Direct-Linear-Transformation algorithm) and cross-ratio. Two remaining parameters are obtained by using non-linear optimization. We present experimental results on simulated and real images.engNon-central catadioptric vision systemsCalibrationAxial symmetric mirrorsjournal article10.1016/j.cviu.2013.04.001