Flexible Camera Calibration by Viewing a Plane from Unknown Orientations - Zhang, ICCV99, paper (803KB).
The main initialization phase has been partially inspired from that paper. The initial estimation of the planar homographies is identical to that presented in that paper. The closed-form estimation of the internal parameters from the homographies is slightly different (we explicitely use orthogonality of vanishing points), and we do not estimate the distortion coefficients at the initialization phase (we found that step unnecessary in practice). The final Maximum Likelihood estimation is identical. Minor difference: we use the intrinsic model presented by Heikkil� and Silven including two extra distortion coefficients corresponding to tangential distortion.
A Four-step Camera Calibration Procedure with Implicit Image Correction - Heikkil� and Silven, CVPR97, paper (125KB).
The intrinsic camera model has been inspired from that paper (8DOF). For more information, go to that link.
A versatile camera calibration technique for high accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses - R. Y. Tsai ,IEEE J. Robotics Automat. , pages 323-344, Vol. RA-3, No. 4 1987.
On Plane-Based Camera Calibration: A General Algorithm, Singularities, Applications - Sturm and Maybank, CVPR99, paper (119KB).
A very interesting study of the singularities of calibrating based on planar rigs. A very similar method of estimation based on planar homographies.
The Development of Camera Calibration Methods and Models - T.A. Clarke and J.G. Fryer, Photogrammetric Record, 16(91): 51-66, April 1998, paper (60KB).
A remarkable paper covering the whole historical development of camera calibration techniques. An exhaustive literature survey. An amazing work that should not be missed! Other publications from the same authors are available on the web site of the Optical Metrology Centre, a company based in the UK that offers camera calibration services and sells camera calibration software. This company is also mentioned on the links page.
One of the first introduction of the decentering distortion model ("plumb bob" model). A standard reference paper. This distortion model is also known as the "Brown-Conrady model".
Decentering lens systems - A. Conrady, Monthly notices of the Royal Astronomical Society, Vol. 79, pages 384-390, 1919.
The very first introduction of the decentering distortion model.
A fully automatic camera and hand eye calibration developed by Christian Wengert from the Swiss Federal Institute of Technology (ETHZ). This is two add-ons for this camera calibration toolbox for Matlab. The first part covers a fully automatic calibration procedure and the second covers the calibration of the camera to a robot-arm or an external marker (known as Hand-Eye claibration). The author provides a complete documentation.
A Standalone camera calibration application developed by Danail Stoyanov from the Royal Society/Wolfson Foundation Medical Image Computing Laboratory, Imperial College London, United Kingdom. This application was inspired by this Camera Calibration Toolbox for Matlab. It come with a very nice user interface, and is standalone! A great tool! Thank you Danial for this making this application available to the general community.
Omnidirectional Calibration Toolbox Extension - A great extension toolbox for calibrating omnidirectional cameras. The author Christopher Mei wrote a very complete documentation, with examples. It also contain C programs for undistorting images, and reading the results of calibration. It is a wonderful addition to this Camera Calibration Toolbox. Check it out!
OpenCV and MatLab Camera Calibration Toolboxes Enhancement - A set of matlab and C code that adds an automatic corner detection to the Matlab Calibration Toolbox. The author, Vladimir Vezhnevets, also offers new enhancements to the OpenCV version of the calibration tool (a more robust corner detection). A complete C++ standalone application may also be found at this location. It is a remarkable tool.
Tsai Camera Calibration Software - A classic! Everyone interested in camera calibration should know about that link. No image corner extraction included.
Reg Willson's Home Page at CMU - A reference page on zoom lens modeling, calibration... Also links to Tsai code that he is maintaining. A very useful link to keep.
tclcalib - A tool for camera calibration - A collection of tools all wrapped up together in order to make internal camera calibration easy. Heikkila's internal camera model is the one used in this toolbox. Written by James Davies at Stanford.
Tele2: A complete Calibration Toolkit with additional Computional Vision tools - A great camera calibration software (with complete documentation) for Linux that allows calibrating of single cameras, and stereo systems. This software also contains various other computational vision tools such as stereo matching, and 3D shape computation. Written by Matthieu Personnaz at INRIA.
An algorithm for automatic corner extraction - This page describes an algorithm by Abramo Barbaresi to automatically detect the complete set of corners in a checkerboard image. This tool is useful for automatizing the overall calibration procedure.
TotalCalib software (Sylvain Bougnoux) - Very powerful semi-automatic camera calibration tool based on image point correspondence (also known as self-calibration) - Designed at INRIA. Unfortunately, the software is not freely available (or so it seems).
Machine Vision Toolbox for matlab - A large collection of matlab routines for machine vision applications, including camera calibration. I have not tried this toolbox.
I try to keep updating this page regularly, as I discover new interesting pages related to the topic of camera calibration. However, the web is large and dynamic, and I rely on elementary search engines to find new links. Therefore, I encourage you to directly contribute with your (or someone else's) link by sending me an email at . Thank you.