Single viewpoint stereoscopic sensor calibration

Calibration is a classical issue in computer vision. This work presents a camera calibration approach for single viewpoint cameras which can be modeled by the unified spherical projection. The paper extends the method of perspective camera calibration using virtual visual servoing, to central cameras and particularly to omnidirectional cameras. The contribution is the development of simultaneous intrinsic and extrinsic calibration of N central cameras stereo rig.