Calibration of a paracatadioptric camera by projection imaging of a single sphere

This paper introduces an omnidirectional vision system calibration method that uses the central catadioptric projection properties of a single sphere. A central catadioptric camera with a single effective viewpoint images a single sphere as a closed conic. The intrinsic parameters of the camera can be obtained based on the imaged circular points and orthogonal vanishing points. The feasibility and validity of three algorithms were demonstrated through simulations and experiments with real data.