Camera self-calibration with lens distortion

Camera calibration is considered as an important issue in computer vision. One aspect of camera calibration is to estimate the intrinsic parameters of the camera. These parameters determine how the image coordinates of a point are derived. In this paper, we present an accurate and flexible method to calibrate intrinsic parameters of a camera together with lens distortion. Through rigorous mathematical derivation, we get the relationship between the distortion and perfect image points. Then we use a stratified method to calculate the intrinsic parameters optimally. We verify the efficiency and accuracy of the proposed algorithm both with simulation and real image experiments.