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A unified approach to the linear camera calibration problem

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2 Author(s)
Grosky, William I. ; Dept. of Comput. Sci., Wayne State Univ., Detroit, MI, USA ; Tamburino, L.A.

The camera calibration process relates camera system measurements (pixels) to known reference points in a three-dimensional world coordinate system. The calibration process is viewed as consisting of two independent phases: the first is removing geometrical camera distortion so that rectangular calibration grids are straightened in the image plane, and the second is using a linear affine transformation as a map between the rectified camera coordinates and the geometrically projected coordinates on the image plane of known reference points. Phase one is camera-dependent, and in some systems may be unnecessary. Phase two is concerned with a generic model that includes 12 extrinsic variables and up to five intrinsic parameters. General methods handling additional constraints on the intrinsic variables in a manner consistent with explicit satisfaction of all six constraints on the orthogonal rotation matrix are presented. The use of coplanar and noncoplanar calibration points is described

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:12 ,  Issue: 7 )