The parameters of the Tsai model can be estimated either from
- a coplanar set of world points (a planar calibration object), or
- a non-coplanar set of world points
In the first case
cannot be determined. In what follows we describe
non-coplanar calibration, which is a two stage process:
- Linear estimation of a subset of parameters.
- Nonlinear optimization with the linear estimates as initial guess.