Andreas Geiger

LIBCBDETECT: Corner and Checkerboard Detection

This page contains MATLAB code for fully automatic sub-pixel checkerboard / chessboard pattern detection from our paper "A Toolbox for Automatic Calibration of Range and Camera Sensors using a single Shot". The algorithm autmatically extracts corners to sub-pixel accuracy and combines them to (rectangular) checkerboards / chessboard-like patterns. It works on a variety of imagery (pinhole cameras, fisheye cameras, omnidirectional cameras). The online calibration toolbox (which also includes the optimization algorithms for calibration) can be reached here.

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This code is published under the GNU General Public License.

LIBCBDETECT for Linux/Mac/Windows (including test images)
Note: A version which is slightly slower but finds checkerboards more reliably also in the presence of blur and heavy distortions (as they happen for example in fisheye or omnidirectional images) is packaged with LIBOMNICAL. Check it out!

Citation

@inproceedings{Geiger2012ICRA,
author = {Andreas Geiger and Frank Moosmann and Oemer Car and Bernhard Schuster},
title = {Automatic Calibration of Range and Camera Sensors using a single Shot},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2012}
}
@inproceedings{Schoenbein2014ICRA,
author = {Miriam Schönbein and Tobias Strauss and Andreas Geiger},
title = {Calibrating and Centering Quasi-Central Catadioptric Cameras},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2014}
}