### Table 1: Projective transformation for rectilinear and omnidirectional cameras.

2007

"... In PAGE 3: ... Tools for estimating the model parameters have been also recently made available [10]. Table1 summarizes the transformations from a 3D point in the scene P = (x, y,z) to the projected image point on the image u = (u,v). Utilizing the camera parameters for both rectilinear and omnidirectional cameras, a flat-plane image can be gener- ated given knowledge of the world coordinate origin and the region on the road surface we wish to project the image onto.... ..."

### Table 8: Results of self-calibration performed on stereo pairs of the calibration grid and

"... In PAGE 33: ...mage. We matched the views using the algorithm from Section 5.3 #28an exception was done for images of the calibration grid, for whichwewere provided - by a calibration software - with links 3D-2D between a point on the grid and its image; given two such links associated to the same point 3D, we matched its two images 2D#29. Having employed results from o#1B-line calibration #28the constraint: distance camera-scene #15 2:5m had been ful#1Clled#29, we ran the self-calibration algorithm for each stereo pair, obtaining estimations for #0B, related to every considered zooming #28see Table8 #29.... ..."

### Table 6. Self-calibration results form 5 Pulnix images of a planar grid (12 control points) RMS of 52 tie points (mm) Adjustment

2001

"... In PAGE 7: ...One sees in the first rows of Table6 that, although distortion evidently remains by far the most important source of inaccuracy, errors are trebled in two directions when the principal point is not taken into account. Hence, ignoring the principal point would lead here to significant errors, especially if large extension in depth is present.... In PAGE 7: ... Apparently, this has chiefly to do with the error introduced directly into the adjustment by the omission of xo, yo and not with the fact that in this case distortion has a different point of best symmetry (it is expressed radially about the image centre rather than the principal point). This is observed in the last five rows of Table6 , in which distortion curves for the first image only (referring to its centre) had been estimated prior to adjustments via the described methods. In fact, the distortion polynomials estimated both from line-fitting and rectification gave RMS values identical to those of full bundle adjustment, while the simpler approaches led to less accurate solutions in which, nonetheless, distortion has been largely corrected.... ..."

Cited by 5

### Table 3. Results of reconstruction of the calibration grid.

2000

"... In PAGE 14: ... The motion in these sequences is very small, and the initial self-calibration was found to vary considerably depending on which algorithms were used to calculate the homographies and self-calibration, and how many images were used. Results from three experiments are summarized in Table3 , and Figure 7 shows reconstructions of the scene with and without refinement. Again, the novel methods presented in this paper provide a very significant improvement.... In PAGE 15: ...ig.7. Plan views of the reconstructed scene. (a) represents the fourth row of Table3 , using homographies calculated from the linear method, and the relative motion from a single image pair with no refinement. (b) demonstrates refinement method (1) applied to this reconstruction (row 6 in the table).... ..."

Cited by 6

### Table 3. Results of reconstruction of the calibration grid.

2000

"... In PAGE 14: ... The motion in these sequences is very small, and the initial self-calibration was found to vary considerably depending on which algorithms were used to calculate the homographiesand self-calibration, and how many images were used. Results from three experiments are summarized in Table3 , and Figure 7 shows reconstructions of the scene with and without refinement. Again, the novel methods presented in this paper provide a very significant improvement.... In PAGE 15: ...ig.7. Plan views of the reconstructed scene. (a) represents the fourth row of Table3 , using homographies calculated from the linear method, and the relative motion from a single image pair with no refinement. (b) demonstrates refinement method (1) applied to this reconstruction (row 6 in the table).... ..."

Cited by 6

### Table 3: Results for calibration grid.

1999

"... In PAGE 6: ... Figure 2: Calibration grid and lab scene. Table3 shows the mean and standard deviation of the results for the focal length, computed over the 4 views and over all combinations of planes. We note that even the one-plane method gives results very close to those of the standard method that uses all points and their full 3D coordinates.... ..."

Cited by 63

### Table 3: Results for calibration grid.

1999

"... In PAGE 6: ... Figure 2: Calibration grid and lab scene. Table3 shows the mean and standard deviation of the results for the focal length, computed over the 4 views and over all combinations of planes. We note that even the one-plane method gives results very close to those of the standard method that uses all points and their full 3D coordinates.... ..."

Cited by 63

### Table 1: Camera Calibration Sample Output (Experiment I, View III) (XW,YW,ZW): Real World Coordinate; (XI,YI): Image Coordinate Input Data Fit Data Residuals

"... In PAGE 19: ...) (5) With camera calibration matrices from any two views and a number of point-to-point cor- respondences obtained in process (4), 3D feature point locations were computed using the technique of nding the midpoint of the common perpendicular to two projecting rays. Abbreviated results of camera calibration for Experiment I, View III are given in Table1 below. The residuals of the model t average about one half pixel in the image plane even though the image was not corrected for barrel distortion.... ..."

### Table 1: Example of a calibrated #0Cxed camera model

1994

"... In PAGE 6: ...lane at 1.5m range, approximately 520mm up and 520mm to the left of the center of the camera apos;s #0Celd of view. The two images provided 186 data points. Table1 shows the calibrated #0Cxed camera model after the #0Cnal non-linear optimization step. The small values for the mean UIPE and maximum UIPE indicate that the calibrated camera model does a good job of capturing the lens apos;s 3D to 2D imaging behavior.... ..."

Cited by 73

### Table 1: Example of a calibrated #0Cxed camera model

1994

"... In PAGE 6: ...lane at 1.5m range, approximately 520mm up and 520mm to the left of the center of the camera apos;s #0Celd of view. The two images provided 186 data points. Table1 shows the calibrated #0Cxed camera model after the #0Cnal non-linear optimization step. The small values for the mean UIPE and maximum UIPE indicate that the calibrated camera model does a good job of capturing the lens apos;s 3D to 2D imaging behavior.... ..."

Cited by 73