Efficient and robust methods of accurate camera calibration

An algorithm for camera calibration is presented. It is a significant improvement in mathematical simplicity, accuracy and computational efficiency in the solution of all extrinsic (external camera geometric) and intrinsic (internal camera geometric and camera optics) parameters. The method involves a direct transformation from the three-dimensional (3-D) object world to the two-dimensional (2-D) image or sensor plane in terms of homogeneous vector forms for both coplanar and noncoplanar distributions of object points. A strong robust property of the proposed algorithm is demonstrated by proving that if the camera is calibrated with image data not compensated for image center displacement and scale factor, the proposed algorithm yields parameters that cause no error in the computation of both image and world coordinates