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In the proposed method the common planar items in hand with the standard size and structure are utilized as the calibration objects. The proposed method consists of a closed-form solution based on homography optimization, followed by a nonlinear refinement based on the maximum likelihood approach. To automatically recover the camera parameters linearly, we present a robust homography optimization method based on the edge model by redesigning the classic 3D tracking approach. In the nonlinear refinement procedure, the uncertainty of the image line segment is encoded in the error model, taking the finite nature of the observations into account. By developing the new error model between the model line and image line segment, the problem of the camera calibration is expressed in the probabilistic formulation. Simulation data is used to compare this method with the widely used planar pattern based method. Actual image sequences are also utilized to demonstrate the effectiveness and flexibility of the proposed method.<\/jats:p>","DOI":"10.1155\/2016\/2802343","type":"journal-article","created":{"date-parts":[[2016,1,6]],"date-time":"2016-01-06T21:02:46Z","timestamp":1452114166000},"page":"1-16","source":"Crossref","is-referenced-by-count":13,"title":["A Flexible Online Camera Calibration Using Line Segments"],"prefix":"10.1155","volume":"2016","author":[{"given":"Yueqiang","family":"Zhang","sequence":"first","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, Hunan 410073, China"},{"name":"Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha, Hunan 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Langming","family":"Zhou","sequence":"additional","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, Hunan 410073, China"},{"name":"Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha, Hunan 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haibo","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, Hunan 410073, China"},{"name":"Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha, Hunan 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Shang","sequence":"additional","affiliation":[{"name":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, Hunan 410073, China"},{"name":"Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation, Changsha, Hunan 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","year":"1993"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/34.159901"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/jra.1987.1087109"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1109\/34.888718"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2009.08.003"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2004.11.005"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2004.21"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-55426-2_37"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1023\/a:1007982716991"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2009.10.003"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/tvcg.2006.78"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2002.1017620"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1006\/ciun.1994.1060"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2014.08.023"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2009.161"}],"container-title":["Journal of Sensors"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2016\/2802343.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2016\/2802343.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2016\/2802343.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,16]],"date-time":"2020-05-16T08:40:38Z","timestamp":1589618438000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/js\/2016\/2802343\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016]]},"references-count":15,"alternative-id":["2802343","2802343"],"URL":"https:\/\/doi.org\/10.1155\/2016\/2802343","relation":{},"ISSN":["1687-725X","1687-7268"],"issn-type":[{"value":"1687-725X","type":"print"},{"value":"1687-7268","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016]]}}}