Geometric calibration of a camera or a stereoscopic vision sensor
Transformation between the world reference frame and the camera reference frame
As indicated on Figure 2,
represents a transformation between the world reference frame
(arbitrarily chosen) and the camera reference frame
(which origin is located in the optical center of the camera). This rigid transformation consists of a rotation
and a translation
. The parameters of this transformation are called extrinsic parameters of the camera.
(1)
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with:
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is a 4 × 4 matrix.
The representation of a rotation by the nine parameters
is not minimal. Indeed, three parameters are enough to represent a rotation (instantaneous rotation vector, Euler angles, Bryant angles etc.).