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In geometrical camera calibration the objective is to determine a set of camera parameters that describe the mapping between 3-D reference coordinates and 2-D image coordinates. Various methods for camera calibration can be found from the literature. However, surprisingly little attention has been paid to the whole calibration procedure, i.e., control point extraction from images, model fitting, image correction, and errors originating in these stages. The main interest has been in modeldoi:10.1109/cvpr.1997.609468 dblp:conf/cvpr/HeikkilaS97 fatcat:4aenqskwebd2pgqh22kazg2qay