Calibration of Double-Plane-Mirror Catadioptric Camera Based on Coaxial Parallel Circles

Table 1

Calibration results obtained using real data (unit: pixel).

Method	Camera intrinsic parameters
	Ground truth	1580.3066	1578.9804	650.0029	477.8722	0.0747
Method 1	1576.4317	1573.7439	650.8347	476.5436	0.0813
Method 2	1593.6435	1588.7013	645.9737	478.8974	0.0756
Method 3	1582.1458	1578.7357	653.5698	469.5377	0.07904
Ying et al. [21]	1594.0824	1590.3454	658.7831	487.1537	0.0579
Zhao and Li [25]	1571.0074	1567.3497	654.7834	465.7867	0.0654
Method 1 OP	1578.3612	1577.8926	650.4637	478.4436	0.0764
Method 2 OP	1588.4724	1585.6731	647.7634	478.9724	0.0733
Method 3 OP	1579.1136	1576.3324	652.2278	475.5623	0.07593