Accuracy assessment on camera calibration method not considering lens distortion

The authors investigate the effect of neglecting lens distortion, and present a theoretical analysis of the calibration accuracy. The error bound derived is a function of a few factors, including the number of calibration points, the observation error of 2-D image points, the radial lens distortion coefficient, and the image size and resolution. This error bound provides a guideline for selecting both a proper camera calibration configuration and an appropriate camera model while providing the desired accuracy. Experimental results from both computer simulations and real experiments are given