Camera self-calibration from projection silhouettes of an object in double planar mirrors

In double planar mirror omnidirectional imaging systems, camera calibration is a crucial part of the 3D reconstruction process. Based on analysis of the imaging geometric features of double planar mirrors, three types of algorithms for the camera intrinsic parameters are presented by computing the imaged circular points and orthogonal vanishing points. The camera intrinsic parameters can be obtained by the constraints on the imaged circular points and the orthogonal vanishing points to the image of the absolute conic. Simulation, real data, and 3D reconstruction experiments are presented to show the feasibility and validity of the proposed methods.