A Flexible Online Camera Calibration Using Line Segments

Figure 9

Homography tracking for the chessboard plane. Projected model lines using the homography of the proposed method are drawn in blue. The interior corners extracted in the images are drawn as color circles with the color lines between them denoting the order. The first row shows that the corners can be extracted successfully when the angle between the model plane and the image plane is small. However, when the angle is increasing, the corner detection will be less precise and even fail, as can be seen in the second row. For the whole sequence, the proposed method can provide good match with the image edges.

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