Camera Calibration

1.分类

Photogrammetric calibration：Camera calibration is performed by observing a calibration object whose geometry in 3-D space is known with very good precision.

Self-calibration:Techniques in this category do not use any calibration object.

2.符号定义

求解H矩阵

3.Closed-form solution

内参：

外参：

4.Maximum likelihood estimation

which is solved with the Levenberg-Marquardt Algorithm；

5.Dealing with radial distortion

求解旋转矩阵：