Camera-mirror calibration using the virtual rearview camera model

Flat mirrors are useful for capturing images of objects from multiple viewpoints with a single camera. However, for measurement applications, a point on the mirror plane, its normal vector, and the camera parameters need to be estimated. In this paper, we present a camera-mirror calibration method based on the virtual rear-view camera model. The proposed calibration method does not require visible reference markers attached to the mirror surface, preventing contact damage. The theoretical principles are reviewed, and simple reflection-based formulas are derived. A camera-mirror setup was calibrated for experimental validation. The results confirm the effectiveness of the proposed method in calibrating imaging systems that incorporate mirrors.