Accuracy Evaluation

• 3D Measurement

  • Distance with respect to the optical ray
  • Normalized Stereo Calibration Error

Camera

coordinate

system

World

coordinate

system

Image plane

Image

coordinate

system

• 2D Measurement

  • Accuracy of distorted image coordinates
  • Accuracy of undistorted image coordinates

Optical Ray

Observed Point

Linear Projection

- distortion

+ distortion

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