CCD camera model and its physical characteristics consideration in calibration task the robotics

In most robotic vision systems the very first step towards the real application is to perform the camera calibration. The authors describe some important aspects about CCD (charged coupled-device) camera characteristics which affect the precision of their calibration procedure. They discuss first the optic image forming using a CCD camera, the digital image acquisition and the possible deformation in this stage, then they establish a pin-hole model derived from a thin and a thick lens optical model as well as the errors caused in the model approximation. Finally, they suggest some consideration about physical characteristics of these sorts of camera in robotic calibration task