Geometric calibration of a camera or a stereoscopic vision sensor

Transformation between the world reference frame and the camera reference frame

As indicated on Figure 2, 
  represents a transformation between the world reference frame (arbitrarily chosen) and the camera reference frame (which origin is located in the optical center of the camera). This rigid transformation consists of a rotation and a translation . The parameters of this transformation are called extrinsic parameters of the camera.


is a 4 × 4 matrix.

The representation of a rotation by the nine parameters is not minimal. Indeed, three parameters are enough to represent a rotation (instantaneous rotation vector, Euler angles, Bryant angles etc.).

AccueilOutils transversesNouvelle pageInformations sur le cours (ouvrir dans une nouvelle fenêtre)Use of homogeneous coordinatesTransformation between the camera reference frame and the sensor reference frame (retinal plane)