Abstract
We introduce a generalized camera calibration model that is able to determine the camera parameters without requiring perfect rectangular road-lane markings, thus overcoming the limitations of state-of-the-art calibration models. The advantage of the new model is that it can cope in situations where road-lane markings do not form a perfect rectangle, making calibration by trapezoidal patterns or parallelograms possible. The model requires only four reference points—the lane width and the length of the left and right lane markings—to determine the camera parameters. Through real-world surveying experiments, the new model is shown to be effective in defining the 2D/3D transformation (or vice versa) when there is no rectangular pattern on the road, and can also cope with trapezoidal patterns, near-parallelograms, and imperfect rectangles. This development greatly increases the flexibility and generality of traditional camera calibration models.
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