  This paper proposes a new extrinsic calibration of kaleidoscopic imaging
system by estimating normals and distances of the mirrors. The problem to be
solved in this paper is a simultaneous estimation of all mirror parameters
consistent throughout multiple reflections. Unlike conventional methods
utilizing a pair of direct and mirrored images of a reference 3D object to
estimate the parameters on a per-mirror basis, our method renders the
simultaneous estimation problem into solving a linear set of equations. The key
contribution of this paper is to introduce a linear estimation of multiple
mirror parameters from kaleidoscopic 2D projections of a single 3D point of
unknown geometry. Evaluations with synthesized and real images demonstrate the
performance of the proposed algorithm in comparison with conventional methods.
