Camera calibration with moving one-dimensional objects

In this paper, we show that the rotating 1D calibrating object used in the literature is in essence equivalent to a familiar 2D planar calibration object. In addition, we also show that when the 1D object undergoes a planar motion rather than rotating around a fixed point, such equivalence still holds but the traditional way fails to handle it. Experiments are carried out to verify the theoretical correctness and numerical robustness of our results.