2.3. Camera Calibration with 3D Objects

The traditional way to calibrate a camera is to use a 3D reference object such as those shown in Figure 2.3. In Figure 2.3a, the calibration apparatus used at INRIA [8] is shown, which consists of two orthogonal planes; a checker pattern is printed on each. A 3D coordinate system is attached to this apparatus, and the coordinates of the checker corners are known very accurately in this coordinate system. A similar calibration apparatus is a cube with a checker pattern painted in each face, so three faces are generally visible to the camera. Figure 2.3b illustrates the device used in Tsai's technique [33], which uses only one plane with checker pattern, but the plane needs to be displaced at least once with ...

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