Analysis of the Reliability of the Calibration of a Camera Through the Knowledge of Its Extrinsic Parameters

Camera calibration methods support their concepts on pinhole camera models to obtain the intrinsic and extrinsic parameters of a camera. These methods consider the different nonlinearities caused by the lens to determine their results. The different calibration algorithms, to verify whether the parameters of the model are acceptable, use a mathematical factor known as back-projection error that, as much as it approximates to zero, indicates whether the theoretical mathematical model of a camera fits well with the real camera model. In this study, the aim is to analyze the reliability of the calibration results of a camera by comparing the extrinsic parameters (position and orientation) delivered by the algorithms of Tsai, Zhang, and Faugeras with different camera positions and orientations taken using an ABB manipulator robot.