In this paper, we propose an accurate landmark localization method for camera calibration. In addition to the case of the stable camera, the rotating camera has intrinsic parameters which are tilts of the camera rotation axes. Using the landmark positions on the sequential images which are taken by the camera rotating, the tilts of the camera rotation axes can be calibrated. But, in conventional methods using the binarized image, the localization error of landmark positions on the image was a big problem. In order to solve this problem, we propose new methods using the grayscale and color images. And our proposed methods are validated for the accurate camera calibration in the experiments.
landmark localization
camera calibration
line approximation of trajectory