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Camera Calibration Using Inaccurate and Asynchronous Discrete GPS Trajectory from Drones

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

This paper considers a stationary camera calibration problem, which estimates the camera orientation angles yaw, pitch and roll, using a drone trajectory recorded by a GPS. There are three challenges in using a GPS trajectory as ground truth for camera calibration. One, the altitude of GPS data is inaccurate with an unknown bias. Two, the GPS receiver and camera are not time synchronized, and there is an unknown time offset between the two systems. Three, the GPS trajectory is time-discrete and accurate interpolation is needed. This is actually an estimation problem since velocity is also need

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