Calibration and Pose Estimation of a Pox-slits Camera from a Single Image

Recent developments have suggested alternative multi-perspective camera models potentially advantageous for the analysis of the scene structure. Two-slit cameras are one such case. The projection model for these cameras is non-linear, and in this model every 3D point is projected by a line that passes through that point and intersects two lines (or slits). One particular case of this camera model, in terms of the slits positions, is referred to as parallel-orthogonal x-slits, or pox-slits. In this paper, a non-iterative linear method for the calibration and pose estimation of pox-slits cameras is presented and discussed. A solution for the calibration can be obtained using at least fifteen world to image correspondences. To achieve a higher level of accuracy, data normalization must be used.