Optimal conditions for camera calibration using a planar template

Different techniques exist for camera calibration based on photogrammetry or self-calibration. Much work has been done to obtain intrinsic and extrinsic camera parameters and also in data pre- and post-processing techniques. From a practical viewpoint, it is quite difficult to decide which calibration method produces the best results and even whether any data processing is necessary. This paper proposes a set of optimal performance conditions to resolve the calibration process accurately. The calibration method based on a 2D pattern has been chosen since camera is calibrated using several images of a planar template easily. The proposed optimal conditions define the number of points to design the calibration pattern, the number of images to resolve the calibration accurately, as well as positions and orientations from where images should be taken. The recommend rules will help to obtain a well-conditioned calibration process.