Abstract
The optimal setup condition for camera calibration is clarified in this paper. In order to obtain general results, the camera model is first normalized. Then, the setup constraints for fiducial marks are proposed to reduce the number of parameters to be considered. Errors of calibrated camera parameters and those of visual angles are given by applying the law of error propagation for measurement errors of image coordinates of fiducial marks. The visual-angle errors are calculated under different setup conditions, and the optimal setup condition giving the minimum visual-angle error is obtained. Furthermore, the visual-angle error under the optimal setup condition are quantified for some cameras with different intrinsic parameters. Finally, a formula is derived which can provide visual-angle errors for any camera.
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