Camera Calibration

Not every camera is the same, as not every Duckiebot is the same.

As a result, we need to execute a process of calibration to identify the parameters of a particular setup. These parameters fall into two categories: the intrinsic camera parameters pertain to the camera itself and how an image is formed, and the extrinsic camera parameters pertain to where the camera is mounted relative to the robot.

We describe methods for estimating these two classes of parameters.