f"
mL
ax = + b,x + boy - b4(2x?-4b?/3) +b
: 1 2 3 4*Y
ay - by + box + bgxy - b, (2y?-4b?/3)
7 x A
I
\ NS.
/
LA
N
+ bg (y2-20%/3) + byx(y2-20%/3)
+ bg (x2-202/3) + bg(x^-2b?/3)y
-— "C
C | ) [
* bg(x^-2b?/3)y «b (x2 -262/3) (y?-202/3)
+ byox(y2-262/3) «b, o (x7-252/3) (f- 28/3
-
Fig. 3: Self-calibration correction terms for image coordinates
= 119 +