A camera calibration method based on plane mirror and vanishing point constraint

In order to avoid a cumbersome calibration of camera parameters, a method of self-calibration using the imaging features of a plane mirror and the vanishing point pair constraint is proposed. A plane mirror and calibration template were placed at a certain angle and non-vertical geometric constraints were obtained from the calibration template, as well as from the virtual image of the calibration template. So all the internal parameters were calibrated at once. In order to reduce the influence on the calibration parameters of the vanishing point position, the least squares algorithm and the LM algorithm were used to optimize the parameters. Simulations and real experimental results show that the method has a high accuracy and robustness.