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Camera calibration toolbox for Matlab
Modern CCD cameras are usually capable of a spatial accuracy greater than 1/50 of the pixel size. However, such accuracy is not easily attained due to various error sources that can affect the image formation process. Current calibration methods typically assume that the observations are unbiased, the only error is the zero-mean independent and identically distributed random noise in the observed image coordinates, and the camera model completely explains the mapping between the 3D coordinates and the image coordinates. In general, these conditions are not met, causing the calibration results to be less accurate than expected.
The camera calibration toolbox for Matlab (version 3.0) utilizes a new bias correction procedure for circular control points and a nonrecursive method for reversing the distortion model. To learn more about the calibration method see .
The toolbox is freely available, and you can download it from here:
For more information about installation, see the README file.
The first version of the toolbox was released in Sept. 1996. For downloading it or the other old versions follow this link.
 Heikkilä, J, "Geometric Camera Calibration Using Circular Control Points", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22, No. 10, pp. 1066-1077, Oct 2000.