OSA's Digital Library

Optics Express

Optics Express

  • Editor: C. Martijn de Sterke
  • Vol. 20, Iss. 25 — Dec. 3, 2012
  • pp: 27691–27696

Calibration of a trinocular system formed with wide angle lens cameras

Carlos Ricolfe-Viala, Antonio-Jose Sanchez-Salmeron, and Angel Valera  »View Author Affiliations

Optics Express, Vol. 20, Issue 25, pp. 27691-27696 (2012)

View Full Text Article

Enhanced HTML    Acrobat PDF (4293 KB)

Browse Journals / Lookup Meetings

Browse by Journal and Year


Lookup Conference Papers

Close Browse Journals / Lookup Meetings

Article Tools



To obtain 3D information of large areas, wide angle lens cameras are used to reduce the number of cameras as much as possible. However, since images are high distorted, errors in point correspondences increase and 3D information could be erroneous. To increase the number of data from images and to improve the 3D information, trinocular sensors are used. In this paper a calibration method for a trinocular sensor formed with wide angle lens cameras is proposed. First pixels locations in the images are corrected using a set of constraints which define the image formation in a trinocular system. When pixels location are corrected, lens distortion and trifocal tensor is computed.

© 2012 OSA

OCIS Codes
(150.0155) Machine vision : Machine vision optics
(150.1135) Machine vision : Algorithms
(150.1488) Machine vision : Calibration

ToC Category:
Machine Vision

Original Manuscript: July 27, 2012
Manuscript Accepted: August 22, 2012
Published: November 29, 2012

Carlos Ricolfe-Viala, Antonio-Jose Sanchez-Salmeron, and Angel Valera, "Calibration of a trinocular system formed with wide angle lens cameras," Opt. Express 20, 27691-27696 (2012)

Sort:  Author  |  Year  |  Journal  |  Reset  


  1. R. Hartley and A. Zisserman, Multiple view geometry in computer vision. (Cambridge University Press, 2000).
  2. O. Faugeras and B. Mourrain, “On the geometry and algebra of the point and line correspondences between n images,” In Proc. 5th Int. Conf. Comput. Vision, 951–962 (1995).
  3. R. Hartley, “Lines and points in three views and the trifocal tensor,” Int. J. Comput. Vis.22(2), 125–140 (1997). [CrossRef]
  4. P. Torr and A. Zisserman, “Robust parameterization and computation of the trifocal tensor,” Image Vis. Comput.15(8), 591–605 (1997). [CrossRef]
  5. O. Faugeras, Q.-T. Luong, and T. Papadopoulo, Geometry of multiple images. (Cambridge, MA, USA: MIT Press, 2001).
  6. P. Sturm and S. Ramalingam, “A generic concept for camera calibration,” in Proc. 10th ECCV, 1–13 (2004)
  7. C. Ressl, “Geometry, constraints and computation of the trifocal tensor,” PhD Thesis, Instituüt für Photogrammetrie und Fernerkundung, Technische Universität Wien, (2003).
  8. W. Förstner, “On weighting and choosing constraints for optimally reconstructing the geometry of image triplets,” in Proc. 6th ECCV, 669–684 (2000).
  9. T. Molinier, D. Fofi, and F. Meriaudeau, “Self-calibration of a trinocular sensor with imperceptible structured light and varying intrinsic parameters,” in Proc.7th Int. Conf. Quality Control by Artificial Vision, (2005).
  10. D. Nistér, “Reconstruction from uncalibrated sequences with a hierarchy of trifocal tensors,” in Proc. 6th ECCV, 649–663 (2000).
  11. C. Ricolfe-Viala, A. J. Sanchez-Salmeron, and E. Martinez-Berti, “Accurate calibration with highly distorted images,” Appl. Opt.51(1), 89–101 (2012). [CrossRef] [PubMed]
  12. C. Ricolfe-Viala and A. J. Sanchez-Salmeron, “Lens distortion models evaluation,” Appl. Opt.49(30), 5914–5928 (2010). [CrossRef] [PubMed]
  13. D. Claus and A. Fitzgibbon, “A rational function lens distortion model for general cameras,” In Proc. CVPR IEEE, 213–219 (2005).
  14. M. Ahmed and A. Farag, “Nonmetric calibration of camera lens distortion: differential methods and robust estimation,” IEEE Trans. Image Process.14(8), 1215–1230 (2005). [CrossRef] [PubMed]
  15. F. Devernay and O. Faugeras, “Straight lines have to be straight,” Mach. Vis. Appl.13(1), 14–24 (2001). [CrossRef]

Cited By

Alert me when this paper is cited

OSA is able to provide readers links to articles that cite this paper by participating in CrossRef's Cited-By Linking service. CrossRef includes content from more than 3000 publishers and societies. In addition to listing OSA journal articles that cite this paper, citing articles from other participating publishers will also be listed.


Fig. 1 Fig. 2 Fig. 3

« Previous Article  |  Next Article »

OSA is a member of CrossRef.

CrossCheck Deposited