A Flexible Online Camera Calibration Using Line Segments

Table 1

Calibration results with real data of 4 images.

Methods/pixels					Reprojection error
Corners based method	1147.23	1146.68	475.39	258.04	0.41
Lines based method	1150.76	1151.49	474.61	262.60	0.42
4-line based method	1141.14	1139.99	480.25	253.07	0.67