Theoretical error analysis with camera parameter calibration

摘要

The camera calibration for the intrinsic parameters such as the principal point and the principal distance is one of the most important techniques for the 3-D measurement applications based on the cameras' 2D images: the principal point is the intersection of optical axis of camera and image plane, and the principal distance is the distance between the center of lens and principal point. Though the techniques of camera parameter calibration have been intensively investigated by many researchers, the calibration errors were just examined through limited experiments and simulations and no more. Taking up the two-fiducial-plane camera calibration technique, this paper examined the calibration errors theoretically for various conditions such as the fiducial-plane translation, and the principal distances where the extraction errors of image coordinates of the fiducial points were considered as the source of the errors. The estimation error of F and P are theoretically formulized with the analytical equations, and the effectiveness of the formulas is confirmed by comparing the values by the theory with those by the simulations.