Research an efficient algorithm for projective and nonlinear distortion parameters simultaneous estimation

Due to the nonlinear distortion of camera lens system, projective transformation parameters will be estimated incorrectly. For this reason the images stitching result may have a lot of misregistrations. In general the problem of simultaneous estimation of projective and nonlinear distortion parameters is nonlinear relative to twelve variables which is very laborious and may have several local extremes. This paper offers technique which gives an ability to proceed from 12 variables minimization to 2 variables minimization.