Method of Camera Calibration Using Concentric Circles and Lines through Their Centres

Table 1

Real experiment results for the camera intrinsic parameters (unit: pixels).

Methods	The camera intrinsic parameters
	Our method	849.017	847.904	639.593	479.406	−0.02925	0.08087
Our method	848.562	847.489	640.506	480.384	- -	- -
Our method+	849.532	848.675	639.831	479.909	−0.02858	0.07637
Wu’s method	848.128	847.521	641.177	479.827	- -	- -
Meng’s method	847.673	847.035	641.369	479.349	- -	- -

Note. - - indicates lens distortions that were not considered in Wu’s method, Meng’s method, or our method. Thus, in these cases, there were no values of and .