Aerobics : Four Easy Steps to aMore Flexible Calibration 1

This paper presents a new method for calibrating both the intrinsic and the extrin-sic parameters of a camera. The algorithm dynamically positions a single calibration feature (a light) within the eld of view, choosing locations convenient for calibration. This allows us to simplify the calibration algorithm and collect dense data on radial distortion and intensity drop-oo. Dense data makes the distortion correction more accurate than traditional low-order polynomial ts, and allows us to calibrate even wide-angle lenses (90 eld of view). Our method is very general and easy to understand. It can easily be modiied by other users to suit their particular calibration situation, without forcing them to build a high precision calibration target or wade through a sea of linear algebra. The algorithm, implementation details, and test results are presented.