Research of camera calibration algorithm based on 3D re-projective error

According to the calibration of binocular vision, an improved two-stages camera calibration method involved with multi-distortion coefficients is introduced in this paper. It takes the sum of distance in the world coordinate between ground truth 3D points and calculated 3D points as cost function. The 3D points´ coordinate are calculated by the imitated direct linear transformation (IDLT) triangulation based on distortion compensation. This strategy can allow the two cameras´ all parameters being optimized at the same time. The experiment among IDLT method , Matlab calibration toolbox method and Tsai mehtod is made and the results show that the strategy of taking the 3D reconstruction errors as object function is feasible, and IDLT method possesses more higher calibration precision than those of the other two methods.