Camera models determination using multiple frames

An approach for determining the location and orientation of a camera mounted on an ALV (autonomous land vehicle) is proposed. The authors choose the road boundaries and the objects with vertical edges to be the calibration objects. During the calibration process, the ALV is supposed to move with pure translation. The camera models are derived by using two or three images under the assumptions that the height of the camera and the distance during taking images are known in advance. The tilt and swing angles can be computed from the first image. The pan angle can then be derived by using the projections of vertical edges in three images. If the angle between the moving direction of the ALV and the direction of road boundaries is large enough, two images are enough to find the pan angle. Two translational parameters can be found by employing the projections of vertical edges in two or three images