Camera calibration method based on Kalman filter

A camera calibration method based on the Iterated Extended Kalman Filter (IEKF) was proposed in this paper. The feature points in two-dimensional planar target images were considered in uniform motion. Taking the image coordinates and the corresponding world coordinates of the observed feature points as the filter inputs and taking the estimated value of the intrinsic and extrinsic camera parameters as the filter outputs, the optimized values of the intrinsic and extrinsic camera parameters were obtained with IEKF algorithm. Simulation and real experiments to evaluate the performance of the proposed method on test data are reported, and the results show that this method is robust and feasible algorithm with good precision for a few calibrated images of planar target.