Two stage camera calibration modeling and simulation

Camera calibration is the process of determining the extrinsic and intrinsic parameters of camera. It is a necessary step in 3D computer vision to extract metric information from 2D images. This paper is realization of Zhengyou Zhang method, with tangential distortions and determining the robust initial values for fast convergence. This distortion is unavoidable in case of fish eye lens and becomes essential to be compensated for improving upon the metrics. Initial parameters are solved as a closed form solution, which are further refined by using non linear least square method. The proposed method is compared with the Zhang's method and results visualised of proposed method are in close proximity which are presented to validate. The method converges fast and has an accuracy of 1.2σ.