Abstract

Traditional camera models are often the result of a compromise between the ability to account for non-linearities in the image formation model and the need for a feasible number of degrees of freedom in the estimation process. These considerations led to the defifinition of several ad hoc models that best adapt to different imaging devices, ranging from pinhole cameras with no radial distortion to the more complex catadioptric or polydioptric optics. In this paper we propose the use of an unconstrained model even in standard central camera settings dominated by the pinhole model, and introduce a novel calibration approach that can deal effectively with the huge number of free parameters associated with it, resulting in a higher precision calibration than what is possible with the standard pinhole model with correction for radial distortion. This effectively extends the use of general models to settings that traditionally have been ruled by parametric approaches out of practical considerations. The benefifit of such an unconstrained model to quasipinhole central cameras is supported by an extensive experimental validation