Inferring bias and uncertainty in camera calibration

DOI10.1007/S11263-021-01528-XzbMATH Open1489.68323arXiv2107.13484OpenAlexW3205145998MaRDI QIDQ2117006FDOQ2117006

Annika Hagemann, Christoph Stiller, Moritz Knorr, Holger Janssen

Publication date: 18 March 2022

Published in: International Journal of Computer Vision (Search for Journal in Brave)

Abstract: Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable detection and quantification of these errors critical. In this work, we introduce an evaluation scheme to capture the fundamental error sources in camera calibration: systematic errors (biases) and uncertainty (variance). The proposed bias detection method uncovers smallest systematic errors and thereby reveals imperfections of the calibration setup and provides the basis for camera model selection. A novel resampling-based uncertainty estimator enables uncertainty estimation under non-ideal conditions and thereby extends the classical covariance estimator. Furthermore, we derive a simple uncertainty metric that is independent of the camera model. In combination, the proposed methods can be used to assess the accuracy of individual calibrations, but also to benchmark new calibration algorithms, camera models, or calibration setups. We evaluate the proposed methods with simulations and real cameras.

Full work available at URL: https://arxiv.org/abs/2107.13484

zbMATH Keywords

uncertaintybiascomputer visionsystematic errorscamera calibration

Mathematics Subject Classification ID

Machine vision and scene understanding (68T45)

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Cited In (1)

• The Effect of Noise on Camera Calibration Parameters

Uses Software

• Matlab
• OCamCalib
• AprilCal
• bootlib

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