Camera Calibration

Direct Linear Transform (DLT)

DLT is a method to estimate the camera intrinsics and extrinsics. Learned from Cyrill Stachniss.


First, be familiar with Camera Calibration.

How many points are needed?

Calibrated camera

Uncalibrated camera

  • 11 unknowns ()
  • We need at least 6 points
  • Assuming the model of an affine camera
  • Problem solved by DLT

Solving for

Decomposition of into

We need to do Matrix Decomposition, through QR decomposition.