A Decoupled Calibration Method for Camera Intrinsic Parameters and Distortion Coefficients

Table 2

Comparative result of calibration error evaluated by testing data.

Method	Image 4	Image 5	Image 6	Image 7	Image 8
Zhang	0.1683	0.1763	0.1319	0.1380	0.1658
Before-optimization	0.1613	0.1716	0.1389	0.1421	0.1746
After-optimization	0.1534	0.1670	0.1374	0.1310	0.1609
Method	Image 9	Image 10	Average	Standard error	—
Zhang	0.1321	0.1580	0.1529	0.0186	—
Before-optimization	0.1347	0.1372	0.1515	0.0172	—
After-optimization	0.1212	0.1383	0.1442	0.0167	—