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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 .. Data .. with Respect to Model Imprecision .. noise in the model points.

Let’s denote the ith column of the rotation matrix R by ri. From (1), we have s 2 4 u v 1 3 5 = A £ r1 r2 r3 t ⁄ 2 6 6 4 X Y 0 1 3 7 7 5 = A £ r1 r2 t ⁄ 2 4 X Y 1 3 5: By abuse of notation, we still use M to denote a point on the model plane, but M = [X;Y]T since Z is always equal to 0. In turn, eM = [X;Y;1]T. Therefore, a model point M ...

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