camera calibration & pose estimation

• camera calibration = estimating instrinsics K (pinhole camera) (camera parameters) by measuring
  • real world points X in world space
  • same points in pixel space
  • solving for K[R|t] using singular value decomposition (SVD) after posing problem as $Ap=0$
    • where p = camera params
    • A is from mapping $X_i$ to $x_i$
• pose estimation: estimating extrinsics [R | T]

see camera intrinsics and extrinsics

can use vanishing points to estimate calibration