Abstract: In this paper we shall present a novel algorithm for camera calibration with an improvement in mathematical simplicity, accuracy and computational efficiency in the solution of 12 extrinsic and 7 intrinsic parameters. The method involves a direct transformation from the three-dimensional (3D) object world to the two-dimensional (2D) image plane in terms of 'homogeneous vector forms'. Next, we have demonstrated a strong robust property of the proposed algorithm by proving (with experimental corroboration) that if the camera is calibrated with image data not compensated for image center displacement and scale factor, the algorithm yields parameters that cause no error in the computation of both image and world coordinates. In addition, we have discussed a new method of parameter computation under a complete lens distortion effect (both radial and tangential distortions) with analytical proofs of convergence. Finally, we have proposed a new Incremental Model for correspondence of tolerances between the object world and image plans. Experimental results on a coplanar set of object points are provided to support our models.!14
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