Camera calibration

Parent: SLAM Index Source: http://de.mathworks.com/help/vision/ug/camera-calibration.html

• estimates lens/sensor parameters
• e.g. to correct lens distortion, determine position, measurement etc
• there are several camera models, e.g. fisheye, pinhole

Camera parameters

• intrinsic
• extrinsic
• distortion coefficients

How to solve for camera parameters?

1. Need to have 3D world points and the corresponding 2D image points
2. Take multiple images of a calibration pattern to obtain these correspondences
3. With the mapping 3Dp -> 2Dp, solve for camera parameters

Evaluate accuracy of estimated camera parameters:

• plot relative locations of the camera and the calibration pattern
• calculate reprojection error
• calculate parameter estimation error