1
Estimation the Translation vector for Camera Calibration
using 1D Pattern

Nguyen Dang Hung Phu, Vo Nguyen Thong and Dang Xuan Ba
HCMC University of Technology and Education (HCMUTE)
Email: phunguyenpro1998@gmail.com, nguyenthong1728@gmail.com, badx@hcmute.edu.vn
Abstract
This paper presents how to determine the position of object in
the 3D coordinate by the stetreo camera. In order to know where is
the object we have to calculate or estimate the intrinsic and
extrinsic parameter of the camera. Here, We use newton’s method
to minimize the error, but we only estimate the translation vector
in the external parameter. Beside we use the stick and put it in front
both of two cameras and then we can get the 2D points in the plane
of the 2D coordinate, we will receive two points with one stick,
after that we take that point to find out the relationship between
two cameras. The results show that we just need to know the points
in the 2D coordinate we will know the relationship between both
of two cameras. Finally, we will determine the position of the
object through the parameters which we have estimated before.
Keywords: Stereo camera, Newton’s method, Computer vision,
Camera calibration ,intrinsic and external parameters.
1. Introduction
Nowadays, we can see the most companies in the world
apply the camera for the robotic. Because the camera look
like our eyes. for example, when you wanna take some
thing, firstly we have to know where it is and then control
your hand to take it.
Camera calibration is an important issue in computer
vision especially for video surveillance, 3D reconstruction,
image correspondence, image registration and so on.
Camera calibration is to estimate parameters that are either
internal to or external to a camera. The internal (or intrinsic)
parameters determine how the image coordinates of the
point are derived, given the spatial position of the point with
respect to the camera. The external (or extrinsic) parameters
describe the geometrical relation between the camera and
the scene. Or between different cameras.
Newton’s method, also known as Newton-Raphson
method, is a root-finding algorithm which produces
succesively better approximations to the roors (zeros) of a
real value function. In this research will build the function
based on the camera model. For this case, it is assumed that
the camera model [1] is the classical pinhole imaging model
and the rotation matrix of external and intrinsic parameters
is given.
Many research efforts have been devoted to the issues
of stereo camera calibration. There are some way to
estimate or calculate the parameters of camera like
Radial Basis Function Networks (RBF), Camera
Calibration Using 1D Pattern with single camera… But
each way has the advantages and disavantages. When we
use single camera with 1D pattern, we will estimate to be
not exactly external parameters [2] but we only need to
use one camera and estimate the internal exactly.
This paper is organized as follows: Section 2 build
calibration algorthm for stereo camera, Section 3 To simulate
the relationship between two cameras. We conclude in Section
4
2. Calibration Algorithm
Stereo-camera calibration not only requires determining the
internal and external parameters of a single camera, but also
need to calibrate the relative pose relationship between two
cameras. The mapping relationship of the target points from the
right camera coordinate system to the left camera coordinate
system can be described by the rotation matrix Rc and the
translation vector Tc. The 3D points is Pw(Xw, Yw, Zw), whose
coordinates in the left camera coordinate system are (Xl, Yl, Zl),
and the corresponding coordinates in the right camera
coordinate system are (Xr, Yr, Zr). Then, the mapping from right
camera coordinates to the left camera coordinates can be
expressed as:
 Xl  Xr 
Y   R Y T (1)
 l c  r  c
 Z l   Z r 
Figure 1 presents a diagram of the geometry relationship
based on the perspective projection. The image points projected
by a camera corresponding to Pw(Pi) is designated pi .
 2

  u1 
  Zl  u2  Z l   fx1t1  u2t3
fx1  (6)

 Z  v  v1 Z   fy t  v t
 l  2 fy l  1 2 2 3
  1 
From Eq.(6) we have:
 u1   v 
 fx1t1  u2t3   u2  z1    fy1t2  v2t3   v2  1 z1 
Z1   fx1   fy1 
2 2
 u1   v 
 u2  z1    v2  1 z1 
 fx1   fy1 
b1t1  b2t2  b3t3
 (7)
Fig. 1. Diagram of the geometry relationship d
Where:
This algotrithm is performed following the projection  u 
method on camera. It can be expressed as b1  fx2  u2  1 fx2 
 u  fx1 
X  Z
f x (2)
  v 

v b2  fy2  v2  1 fy2 
Y  Z  fy1 
 fy
 u   v 
Where: b3  u2  u2  1 fx2   v2  v2  1 fy2 
X, Y, Z: the position of object in the 3D coordinate  fx1   fy1 
u, v: the pixel value on camera 2 2
 u   v 
fx, fy: the focal length of camera d   u2  1 z1    v2  1 z1 
Firstly, we choose the right camera as the base. From  fx1   fy1 
Eq.(2) The projection on right camera as follows: In order to calculate the position of object on camera 1, we
 u1 only need to replace Zl in Eq. (7) into Eq. (3) and we obtain:
Xr  Zr
fx1 (3)
 u1 b1t1  b2t2  b3t3

v1 Xl 
Y  Zr fx1 d


r
fy1
v bt b t b t
The position of object on the left camera based on Eq.(1) Yl  1 1 1 2 2 3 3
can be simplified and written as: fy1 d
 X l  X r  t1 Finally, we apply the Newton’s method for estimating the
 (4) translation vector. The target function for estimating based on
 Yl  Yr  t2
Z  Z t the ruler which is about 80 cm. It can be expressed as
 l r 3
G  0.5(1 X1 2 X1 )2  0.5(1Y1 2 Y1 )2  0.5(1 Z1 2 Z1 )2  0.5L2 sign(1 Z1 )
We have (u2, v2) are the pixel value and (fx, fy) are focal
We need to minimize this function reach to zero for
length of camera 2. We use it for the projection of object to
estimating.
figure out the relationship of point. It can be expressed as
We have Jacobian matrix:
 u2
 X l  fx Z l (5) J 
 G G G 

 X Y Z 
2

Y  2 Zv
From the Taylor series : G(xn+1) = G(xn) + G ’(xn) . (xn+1 – xn) = 0
 l fy2 l
 G(xn) + J(xn). (xn+1 – xn) = 0
Then, combined with Eq. (4), we can obtain the  J(xn) . (xn+1 – xn) = – G(xn)
expression relative to both two camera.
J (xn). J(xn) . (xn+1 – xn) = – J(xn) T.G(xn)
T
u2 ( Z r  t3 )  fx2 ( X r  t1 ) xn+1 = xn – (JT(xn). J(xn))-1. J(xn) T.G(xn)

 v2 ( Z r  t3 )  fy2 (Yr  t2 )
  u1 
 u2 ( Z r  t3 )  fx2  Z l  t1 
  fx1 
3. Calibration with Simulation Data
 In this paper, we just estimate the translation vector Tc and
v ( Z  t )  fy  v1 Z  t  suppose the rotation matrix, focal length were known: Rc = I3 ,
 2 r 3 2 l 2
  fy1  fx1 = fy1 = fx2 = fy2 = 1. The translation vector were set to Tc=[-
0.4;0.5;-0.2]. We use the ruler which is about 0.8m, then we
make sure that was put in front both of two cameras.
Initial guess = [0;0;0.01];
 3

You can see in Figure 2, we collect the ruler on the plane
of two cameras after that we use this data in order to estimate
the translation vector by algorithm in section 2.
References
1. Richard Hartley and Andrew Zisserman, "Mutilple View
Geometry in computer vision second edition,". Cambridge
University Press, New York, pages 153-176, 2003.
2. Xiangjian He, Huaifrng Zhang, Jinwoong Kim, Qiang Wu
and Taeone Kim “Estimation of Internal and External
Parameters for Camera Calibration Using 1D Pattern,”
Computer Society, 2018.

Fig. 2. Diagram of Data

Fig. 3. Diagram of estimation value

The results were as follows: Tc’=[-0.4001;0.4999;-0.2]

Fig. 4. Diagram of the Function

4. Conclusion
This paper is focus on solving the problem of calibration
for stereo camera using Newton’s method. But we have just
estimated translation vector. In real-life we must estimate
both of translation vector and rotation matrix, then we can
reconstruct the 3D point in world coordinate from the 2D
coordinates of image points. In next paper we’ll estimate
rotation matrix and calculate the focal length of two
cameras.