Janne Heikkila & Olli Silven "A Four-step Camera Calibration Procedure with Implicit Image Correction"

Janne Heikkila, Olli Silven, "A Four-step Camera Calibration Procedure with Implicit Image Correction," cvpr, pp.1106, 1997 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'97), 1997

janneHeikkilä_1997cvpr.pdf

Matlab toolbox: http://www.ee.oulu.fi/~jth/calibr/

JanneHeikkilä - Machine Vision Group, Computer Science and Engineering Laboratory, University of Oulu
Olli Silven - Information Processing Laboratory, University of Oulu

cf.
http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html


1. Introduction

4-step
1) DLT (direct linear transformation) for initial parameter values [Tsai 1987, Abdel-Aziz 1971, Melen 1994]
2) Nonlinear parameter estimation for final parameter values [Slama 1980]
3) Correcting errors sourced from feature extraction
4) image correction: new implicit model to interpolate the correct image points

2. Explicit camera calibration

The pinhole camera model is based on the principle of collinearity, where each point in the object space is projected by a straight line through the projection center into the image plane.

http://en.wikipedia.org/wiki/Euler_angle