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ICARUS: Interactive Calibration and Reconstruction from Image Sequences


ICARUS is a suite of software packages designed to enable the calibration of image and video sequences, and the reconstruction of geometric models of real scenes from those sequences. It is available on Windows, Linux, Mac and SGI platforms, and comes in two versions. The Personal edition is currently free for non-commercial use. For commercial use, please purchase a license for the Professional Edition.

The current version of the software comes as three separate components:

  • Lens Distortion Removal

    Geometric lens distortion may be estimated from images or video sequences, using simple interactive techniques. No calibration grids are required, and video and image sequences may be distorted/undistorted and saved back to disk.

  • Image and Video Sequence Calibration

    Intrinsic and extrinsic camera parameters (e.g. camera position, orientation, focal length etc..) may be estimated using automatic and semi-automatic approaches.


    • Matchmoving for free-movement and pan/tilt/zoom camera motions
    • Automatic and semi-automatic feature tracking
    • Manual motion-tweaking facilities
    • Cineon image file support
    • 2D and 3D tracking export (Lightwave, 3ds Max, Maya, Softimage, Houdini, Combustion, Flame, and human readable)
    • Garbage matte support, including keyframing and automatic tracking
    • Automatic mosaic generation
    • Motion segmentation to remove moving objects from panning video sequences (beta)
    • 2D and 3D video sequence stabilization

  • Geometry Reconstruction

    Once image or video data has been calibrated, interactive techniques are used to reconstruct geometric models of environments. Surface textures may also be extracted from the image data, and models may be saved in VRML97, Lightwave LWO2, Maya and MGF formats.

For a more detailed description of what ICARUS is capable of, please take a look at the documentation and the gallery.

On Windows platforms, ICARUS supports digital video (DV) format using AVI files; AVI files encoded with codecs supported by DirectShow (DirectX 8.1); and QuickTime files (if QuickTime player is installed). On Mac platforms ICARUS support QuickTime movie files. All platforms also support many standard image formats (TIFF, BMP, GIF, JPEG etc...) as well as the Cineon image format (FIDO and DPX files).

The Personal edition of ICARUS is available for download and is free for non-commercial use. A mailing list has also been set up, so if you would like to be informed of updates and bug-fixes, please join. You must subscribe to the mailing list to post questions, but the list can also be read without a subscription.

ICARUS is capable of tracking film-resolution sequences, although this feature has not been properly tested because we do not have any real footage to test with. If you are interested in tracking high resolution sequences, and would like to donate some real footage to us so we can do some testing, please mail us

If you have any suggestions for improvements, or find any bugs, please send us an email

ICARUS is powered by OpenGL. It also uses the GPC General Polygon Clipper Library developed by Alan Murta.

Fri 15/11/2002 12:30:36 pm