---
title: "On Calibrating Computer Controlled Cameras for Perceiving 3-D Scenes"
authors:
  - "Irwin Sobel"
doi: ""
url: "https://ijcai.org/proceedings/1973/80"
pdf: "https://ijcai.org/proceedings/1973/0080.pdf"
venue: "Proceedings of the Third International Joint Conference on Artificial Intelligence"
year: 1973
pages: "648-656"
track: "Perception for Robots"
keywords:
---

# On Calibrating Computer Controlled Cameras for Perceiving 3-D Scenes

Irwin Sobel

*Proceedings of the Third International Joint Conference on Artificial Intelligence*, pages 648-656.

## Abstract

A problem that arises in getting computers to perceive 3-D scenes is relating information from several different viewpoints. In particular, if the computer moves its sensor, it has to be able to predict changes in images of objects it has seen without having to completely re-recognize t h em. A solution to this problem has been implemented at Stanford using a calibrated camera model which expresses the relation between object space and image space as a function of the computer's control variables. The modelling problem is relatively well understood. Calibration techniques, however, are not. This article deals with these.