Monocular Vision Ranging and Camera Focal Length Calibration

Table 1

Focal length calculation results of a training set.

H/mm	D/mm	x/mm	y/mm	f/mm	E (d)/%
1451	10009	0.0832	−0.4316	4.608727	0.003032
1451	10273	0.156	−0.442	4.543764	0.005428
1451	11290	0.5382	−0.4654	4.268784	0.014776
1451	11825	0.7436	−0.4706	4.131007	0.013635
1451	13507	0.026	−0.5512	4.20472	0.041678
1451	12744	0.273	−0.5252	4.221513	0.065757
1451	13571	0.5018	−0.5382	4.112991	0.100842
1451	16760	0.104	−0.6032	3.964895	0.623398
1451	16939	0.0442	−0.611	3.991179	0.709382
1451	17367	0.2574	−0.611	3.940146	0.117892
1451	15414	0.3952	−0.5798	4.024374	0.233182
1451	18511	0.0026	−0.637	3.968945	0.242895
1451	19034	0.1716	−0.6422	3.948959	0.209105
1451	19839	0.3536	−0.6292	3.934795	0.098061