Simple pinhole camera calibration

A large number of cameras may be modeled quite accurately using the simple pinhole camera model, which may be defined either in terms of camera parameters or by the c matrix (which defines the mapping from 3D points to the image plane). We present formulations of the associated transformations between these two equivalent representations. We also introduce an inexpensive technique for calibrating a camera using a single two‐plane calibration object, and employ a novel high‐precision Hough transform technique for determinings calibration grid lines.©1994 John Wiley & Sons Inc