13
The Tsai Procedure
• The Tsai procedure was developed by Roger
Tsai
at IBM Research and is most widely
used.
• Several images are taken of the calibration
object
yielding point correspondences at
different distances.
• Tsai’s algorithm requires n > 5
correspondences
{(xi, yi,
zi), (ui, vi)) | i = 1,…,n}
between (real) image points and 3D points.