A robust method for camera calibration and 3-D reconstruction for stereo vision systems

This work presents a camera calibration procedure for a stereo vision system to be applied in visual inspection activities involving the three-dimensional reconstruction of a scene. The presented procedure encompasses a robust method developed for solving the non-linear least-squares problems encountered, in order to obtain the global solution, and hence achieve the smallest error in estimating the parameters of the exterior orientation of the camera system. Stemming from the theoretical analysis of the camera orientation problem, the development of the robust method entailed a combination of optimization techniques. Experiments with real images were performed to verify the robustness of the proposed approach.