Procedure For Camera Calibration With Image Sequences
Kenneth L. Clarkson · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1981
A procedure for calibration of the stereo camera transform is described which uses a variable projection minimization algorithm, applied to an error function whose dependence on the five camera model parameters is separable into linear and non-linear components. The result is a non-linear minimization over three variables rather than five. The procedure has been implemented in MACLISP, with good preliminary results.