An Incremental Procedure for the Lateral Calibration of a Time-of-Flight Camera by One Image of a Flat Surface

摘要

We present a simple and accurate procedure to calibrate the pinhole parameters of a Time-of-Flight camera: the principal point \(c=(u_0, v_0)\), the focal length \(f\) and, if needed, the aspect ratio \(\tau \). Only one image of a flat surface is needed. Using the radial distances as provided by the Time-of-Flight principle, we reconstruct the pixel rows (or pixel columns) as collinear points in 3-space. Motivated by theoretical results, we claim that the correct values for \(u_0\), \(v_0\) and \(f\) can be found by an incremental procedure. In case of unknown aspect ratio, some (but few) iterations are needed.