Camera calibration with coplanar calibration board near parallel to the imaging plane

This paper presents a novel approach capable of estimating camera parameters under the condition that the calibration board is near parallel (or parallel) to the imaging plane. A camera calibration model for the near parallel condition is suggested. In the first step, based on the modified radial alignment constraint, the yaw angle and the X and Y translation components are analytically computed. In the second step, the closed-form solutions to the remaining parameters are provided by combining Gauss lens model with camera model, and they are refined by a nonlinear minimization procedure. Simulations and experiments are performed to verify the proposed camera calibration algorithm, and the precision of the automatic camera calibration scheme is also evaluated.