The estimation of a camera s intrinsic parameters (the camera focal length and the principal point) and extrinsic parameters (camera orientation and pose) is the problem of camera calibration. Camera calibration can be accomplished using one of two strategies. The first is off-line calibration which is often used when the camera is stationary during the setup operation. This however reduces the flexibility of using the camera. Alternatively, the camera may be calibrated during the normal operation of the setup. This strategy is called auto-calibration. To achieve greatest flexibility, this...