References

• 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 Heikkilä and Silven including two extra distortion coefficients corresponding to tangential distortion.




• A Four-step Camera Calibration Procedure with Implicit Image Correction - Heikkilä 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.
  
  A seminal paper on camera calibration.




• 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 (242KB).
  
  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.




• Lens Distortion for Close-Range Photogrammetry - D.C. Brown, Photometric Engineering, pages 855-866, Vol. 37, No. 8, 1971.
  
  One of the first introduction of the camera model we use (radial + tangential distortion). A standard reference paper.




• Decentering Distortion of Lenses - D.C. Brown, Photometric Engineering, pages 444-462, Vol. 32, No. 3, 1966.
  
  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.

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