# Calibration Mathematics

Mathematical ideas and techniques commonly found in perception calibration

## Blog Articles

### [Plane Fitting, Part 2: Manifold Optimization, without Lie Groups](/content/blog/plane-fitting-part-2-manifold-optimization-without-lie-groups/index.html)  
  
**Dec 9, 2025**

### [Narrow FOV Calibration Made Easy(er)](/content/blog/nfov-calibration-made-easier/index.html)  
  
**Oct 24, 2025**

### [Plane Fitting, Part 1: A Different Way To Think about Plane Fitting](/content/blog/a-different-way-to-think-about-plane-fitting/index.html)  
  
**Jul 23, 2025**

### [Camera Modeling, Part 5: The Deceptively Asymmetric Unit Sphere](/content/blog/the-deceptively-asymmetric-unit-sphere/index.html)  
  
**Nov 21, 2024**

### [Camera Modeling, Part 4: Pinhole Obsession](/content/blog/camera-modeling-pinhole-obsession/index.html)  
  
**Oct 15, 2024**

### [IMU Fundamentals, Part 5: Preintegration Basics](/content/blog/imu-preintegration-basics-part-5-of-5/index.html)  
  
**Jan 10, 2024**

### [IMU Fundamentals, Part 4: Allan Deviation and IMU Error Modeling](/content/blog/the-allan-deviation-and-imu-error-modeling-part-4-of-5/index.html)  
  
**Dec 19, 2023**

### [IMU Fundamentals, Part 3: Stochastic Error Modeling](/content/blog/stochastic-imu-error-modeling/index.html)  
  
**Dec 6, 2023**

### [IMU Fundamentals, Part 2: Deterministic Error Modeling](/content/blog/deterministic-imu-error-modeling-part-2-of-5/index.html)  
  
**Nov 30, 2023**

### [IMU Fundamentals, Part 1: Introduction to IMUs](/content/blog/learn-imu-fundamentals-part-1-of-5/index.html)  
  
**Nov 27, 2023**

### [Camera Modeling, Part 3: Exploring Distortion and Distortion Models](/content/blog/camera-modeling-exploring-distortion-and-distortion-models-part-iii/index.html)  
  
**Apr 12, 2023**

### [Introduction to Optimization Theory](/content/blog/introduction-to-optimization-theory/index.html)  
  
**Feb 20, 2023**

### [Projective Compensation in Calibration](/content/blog/projective-compensation-in-calibration/index.html)  
  
**Apr 5, 2022**

### [Deriving Derivatives in Perception](/content/blog/deriving-derivatives-for-perception/index.html)  
  
**Mar 8, 2022**

### [Reverse-Engineering Fiducial Markers For Perception](/content/blog/reverse-engineering-fiducial-markers-for-perception/index.html)  
  
**Nov 24, 2021**

### [Calibration Statistics: Accuracy Vs Precision](/content/blog/post-slug-calibration-statistics-accuracy-vs-precision/index.html)  
  
**Sep 30, 2021**

### [Camera Modeling, Part 2: Introducing Lens Distortion](/content/blog/camera-modeling-part-2-introducing-lens-distortion/index.html)  
  
**Aug 9, 2021**

### [Camera Modeling, Part 1: Focal Length & Collinearity](/content/blog/camera-modeling-focal-length-collinearity/index.html)  
  
**Jun 10, 2021**

### [Calibration From Scratch Using Rust, Part 3: Application in Rust](/content/blog/calibration-from-scratch-using-rust-part-3-of-3/index.html)  
  
**Jun 3, 2021**

### [Calibration From Scratch Using Rust, Part 2: Zhang's Method](/content/blog/calibration-from-scratch-using-rust-part-2-of-3/index.html)  
  
**Jun 1, 2021**

### [Calibration From Scratch Using Rust, Part 1: Establishing Projection](/content/blog/calibration-from-scratch-using-rust-part-1-of-3/index.html)  
  
**May 28, 2021**

### [Coordinate Frames for Multi-Sensor Systems, Part 2](/content/blog/rotate-scale-translate-coordinate-frames-for-multi-sensor-systems-part-2/index.html)  
  
**Apr 8, 2021**

### [Coordinate Frames for Multi-Sensor Systems, Part 1](/content/blog/coordinate-systems-and-how-to-relate-multiple-coordinate-frames-together-part-1/index.html)  
  
**Jan 21, 2021**

### [Kalman Filters in Perception, Part 2](/content/blog/one-to-many-sensor-trouble-part-2/index.html)  
  
**Dec 7, 2020**

### [Kalman Filters in Perception, Part 1](/content/blog/one-to-many-sensor-trouble-part-1/index.html)