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Camera calibration is a crucial prerequisite in many applications of computervision. In this paper, a new, geometry-based camera calibration technique isproposed, which resolves two main issues associated with the widely usedZhang's method: (i) the lack of guidelines to avoid outliers in the computationand (ii) the assumption of fixed camera focal length. The proposed approach isbased on the closed-form solution of principal lines (PLs), with theirintersection being the principal point while each PL can concisely representrelative orientation/position (up to one degree of freedom for both) between aspecial pair of coordinate systems of image plane and calibration pattern. Withsuch analytically tractable image features, computations associated with thecalibration are greatly simplified, while the guidelines in (i) can beestablished intuitively. Experimental results for synthetic and real data showthat the proposed approach does compare favorably with Zhang's method, in termsof correctness, robustness, and flexibility, and addresses issues (i) and (ii)satisfactorily.

A New Technique of Camera Calibration: A Geometric Approach Based on Principal Lines