Accurate camera calibration algorithm using a robust estimation of the perspective projection matrix

After a comprehensive overview of camera calibration algorithms, this paper introduces a robust calibration method based on contour matching of a pattern object. In contrast with state of the art methods, no manual and fastidious selection of particular pattern points is required. In order to evaluate the accuracy of the proposed approach, an objective comparison with three well-known methods (Faugeras and Toscani, Tsai, and Zhang) is proposed and discussed in detail. Experiments show that the proposed robust approach outperforms existing techniques and yields accurate results even when calibration is performed from a single image.