Camera Calibration Using Catenary


IEEE SENSORS JOURNAL, vol.22, no.6, pp.5962-5968, 2022 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 22 Issue: 6
  • Publication Date: 2022
  • Doi Number: 10.1109/jsen.2022.3150424
  • Journal Indexes: Science Citation Index Expanded, Scopus, Aerospace Database, Communication Abstracts, Compendex, INSPEC, Metadex, Civil Engineering Abstracts
  • Page Numbers: pp.5962-5968
  • Keywords: Calibration, Cameras, Lenses, Estimation, Apertures, Three-dimensional displays, Image resolution, Camera calibration, computational photography, photogrammetry


In this work, we introduce a novel calibration technique based on a hanging chain curve replacing the checkerboard-based methods. It is a known physical phenomenon that a hanging chain or a flexible rope under gravity can be modeled by a special curve called a catenary. Therefore, instead of the commonly-used planar calibrator, we propose using multiple shots of a catenary-shaped chain for calibration. This approach can solve the out-of-focus problem which is faced in checkerboard calibration methods when the size of the board is not large enough. Although enlarging a planar calibrator increases the manufacturing time and cost, a simple label chain can create large planar areas as precise as a rigid checkerboard, is easily foldable and transportable. We compare the results of our proposed approach against the widely used checkerboard-based calibration as well as the state-of-the-art calibration methods and show that catenary-based calibration is much more accurate than checkerboard-based calibration by a very large margin and is also very competitive among the other approaches.