Calibration Mathematics

Mathematical ideas and techniques commonly found in perception calibration

Blog Articles

Plane Fitting, Part 2: Manifold Optimization, without Lie Groups

Dec 9, 2025

Narrow FOV Calibration Made Easy(er)

Oct 24, 2025

Plane Fitting, Part 1: A Different Way To Think about Plane Fitting

Jul 23, 2025

Camera Modeling, Part 5: The Deceptively Asymmetric Unit Sphere

Nov 21, 2024

Camera Modeling, Part 4: Pinhole Obsession

Oct 15, 2024

IMU Fundamentals, Part 5: Preintegration Basics

Jan 10, 2024

IMU Fundamentals, Part 4: Allan Deviation and IMU Error Modeling

Dec 19, 2023

IMU Fundamentals, Part 3: Stochastic Error Modeling

Dec 6, 2023

IMU Fundamentals, Part 2: Deterministic Error Modeling

Nov 30, 2023

IMU Fundamentals, Part 1: Introduction to IMUs

Nov 27, 2023

Camera Modeling, Part 3: Exploring Distortion and Distortion Models

Apr 12, 2023

Introduction to Optimization Theory

Feb 20, 2023

Projective Compensation in Calibration

Apr 5, 2022

Deriving Derivatives in Perception

Mar 8, 2022

Reverse-Engineering Fiducial Markers For Perception

Nov 24, 2021

Calibration Statistics: Accuracy Vs Precision

Sep 30, 2021

Camera Modeling, Part 2: Introducing Lens Distortion

Aug 9, 2021

Camera Modeling, Part 1: Focal Length & Collinearity

Jun 10, 2021

Calibration From Scratch Using Rust, Part 3: Application in Rust

Jun 3, 2021

Calibration From Scratch Using Rust, Part 2: Zhang's Method

Jun 1, 2021

Calibration From Scratch Using Rust, Part 1: Establishing Projection

May 28, 2021

Coordinate Frames for Multi-Sensor Systems, Part 2

Apr 8, 2021

Coordinate Frames for Multi-Sensor Systems, Part 1

Jan 21, 2021

Kalman Filters in Perception, Part 2

Dec 7, 2020

Kalman Filters in Perception, Part 1