The Effect of Noise on Camera Calibration Parameters

✍ Scribed by Sunil Kopparapu; Peter Corke

• Publisher: Elsevier Science
• Year: 2001
• Tongue: English
• Weight: 449 KB
• Volume: 63
• Category: Article
• ISSN: 1524-0703
• DOI: 10.1006/gmod.2001.0551

✦ Synopsis

Camera calibration is the estimation of parameters (both intrinsic and extrinsic) associated with a camera being used for imaging. Given the world coordinates of a number of precisely placed points in a 3D space, camera calibration requires the measurement of the 2D projection of those scene points on the image plane. While the coordinates of the points in space can be known precisely, the image coordinates that are determined from the digital image are often inaccurate and hence noisy. In this paper, we look at the statistics of the behavior of the camera calibration parameters, which are important for stereo matching, when the image plane measurements are corrupted by noise. We derive analytically the behavior of the camera calibration matrix under noisy conditions and further show that the elements of the camera calibration matrix have a Gaussian distribution if the noise introduced into the measurement system is Gaussian. Under certain approximations we derive relationships between the camera calibration parameters and the noisy camera calibration matrix and compare it with Monte Carlo simulations.