Camera Calibration using a Color-Depth Camera: Points and Lines Based DLT including Radial Distortion

In this paper we approach the problem of insitu camera calibration using an auxiliary mobile color-depth camera. The calibration is based on image lines and the Direct Linear Transformation (DLT). Calibration includes intrinsic and extrinsic parameters, and radial distortion. Traditionally, camera calibration methods based on DLT combine 2D and 3D points. Using 2D image lines allows adding simple image processing methods for fine tuning the calibration data (lines). Experimental comparison of points and lines based calibration shows that the automatic fine tuning of the lines is beneficial for the calibration process in noisy conditions. Experiments on both synthetic and real setups show that despite the low computational complexity of the DLT, the proposed calibration methodology yields promising accurate results.