A Mobile Camera Calibration Method Using an Environmental Stereo Camera

Abstract

Pose estimation (calibration) of a mobile camera is one of the most important research issues to realize geometrical consistency between the real and the virtual world in mixed-reality. This paper proposes a method to estimate the pose of a mobile camera in a dynamic scene by using an environmental stereo camera. Sequential 3D-maps of the capturing environment are generated in real-time by the stereo images, which include both static objects and dynamic objects such as people. By using the 3D point of dynamic objects as landmarks for camera calibration, it is possible to realize a robust pose estimation method in a dynamic environment. Experimental evaluations were conducted using both simulation CG images and captured images of a real scene to demonstrate the effectiveness of our proposed method.