Camera calibration based on the property of an asymptote of a circle

The properties of an asymptote of a circle were studied for calibration. Two asymptotes of a circle are tangents at two circular points; thus, the asymptotes and circular points satisfy the pole-polar relationship with respect to the circle. The geometric interpretations and algebraic constraints of the asymptotes were obtained. The image of the circle center was determined because the two asymptotes of the circle intersect at the circle center. Subsequently, a calibration algorithm using at least three circle images was proposed based on the properties of the asymptote. The authenticity and effectiveness of the calibration algorithm were verified experimentally.