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A Flexible New Technique for Camera Calibration

A Flexible New Technique for CameraCalibrationZhengyou ZhangDecember 2, 1998 (updated on December 14, 1998 )(updated on March 25, 1999)(updated on Aug. 10, 2002; a typo in Appendix B)(last updated on Aug. 13, 2008; a typo in Section )Technical ReportMSR-TR-98-71 Microsoft ResearchMicrosoft CorporationOne Microsoft WayRedmond, WA zhangA Flexible New Technique for Camera CalibrationZhengyou ZhangMicrosoft Research, One Microsoft Way, Redmond, WA 98052-6399, zhangContents1 Motivations22 Basic .. between the model plane and its image .. on the intrinsic parameters .. Interpretation ..43 Solving Camera solution .. likelihood estimation .. with radial distortion ..84 Degenerate Configurations85 Experimental Simulations.

yadded on December 14, 1998 zadded on December 28, 1998; added results on systematic non-planarity on March 25, 1998 xadded on December 14, 1998, corrected (based on the comments from Andrew Zisserman) on January 7, 1999 1

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