A Practical Roadside Camera Calibration Method Based on Least Squares Optimization

Abstract

In this paper, we propose a more practical and accurate method for calibrating the roadside camera used in traffic surveillance systems. Considering the characteristics of the traffic scenes, we propose a minimum calibration condition that consists of two vanishing points and a vanishing line, which can be easily satisfied in most traffic scenes. Based on the minimum calibration condition, we provide a calibration method to estimate camera intrinsic parameters and rotation angles, which employs least squares optimization instead of closed-form computation. Compared with the existing calibration methods, our method is suitable for more traffic scenes and is able to accurately determine more camera parameters including the principal point. By making full use of video information, multiple observations of the vanishing points are available from different objects. For more accurate calibration, we present a dynamic calibration method using these observations to correct camera parameters. As for the estimation of the camera translation vector, known lengths in the road or known heights above the road are exploited. The experimental results on synthetic data and real traffic images demonstrate the accuracy, robustness, and practicability of the proposed calibration method.