Chapter 2. Camera Calibration

Zhengyou Zhang

Camera calibration is a necessary step in 3D computer vision in order to extract metric information from 2D images. It has been studied extensively in computer vision and photogrammetry, and even recently, new techniques have been proposed. In this chapter, we review the techniques proposed in the literature including those using 3D apparatus (two or three planes orthogonal to each other, or a plane undergoing a pure translation, etc.), 2D objects (planar patterns undergoing unknown motions), 1D objects (wand with dots), and unknown scene points in the environment (self-calibration). The focus is on presenting these techniques within a consistent framework.