Complete camera calibration using spheres: Dual space approach

Camera calibration is a fundamental problem in computer vision and photogrammetry. We present a new algorithmto calibrate cameras using spheres. In general, an occluding contour of a sphere projects to an ellipse in the image.
Our algorithm uses the projection of the occluding contours of three spheres and solves for the intrinsic parameters
and the locations of the spheres. The problem is formulated in the dual space and the parameters are solved for
optimally and efficiently using semi-definite programming. The technique is flexible, accurate and easy to use. In
addition, it can be used to simultaneously calibrate multiple cameras with a common field of view. Experimen-
tal results from computer simulated data and real world data, both for a single camera and multiple cameras, are
presented.