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We propose a flexible new technique to easily calibratea camera. It only requires the camera to observe a planarpattern shown at a few (at least two) different orientations.Either the camera or the planar pattern can be freely moved.The motion need not be known. Radial lens distortion ismodeled. The proposed procedure consists of a closed-formsolution, followed by a nonlinear refinement based on themaximum likelihood criterion. Both computer simulationand real data have been used to test the pro
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