Camera calibration methodology based on a linear perspective transformation error model

The camera model which uses homogeneous coordinates, assumes the laws of Gaussian optics, and an extension for the aberration of geometric radial distortion is included. Features that collectively demonstrate the methodology´s superiority over existing techniques are: (1) the simultaneous and accurate inference of all camera model parameters using only iterative linear least squares; (2) no requirement of a priori knowledge of camera model parameters; (3) utilization with a wide range of optical sensing devices; (4) adaptability to include camera model parameters that are departures from the assumptions of Gaussian optics; and (5) computational efficiency. Absolute stereo calibration accuracy of 0.084 mm in a 2000 cm³ volume is achieved for a pair of miniaturized CCD array cameras