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The Matlab function detectCheckerboardPoints is used to determine a list of matching points (x_floor, y_floor, x_image, y_image). Then a 5th order 2D polynomial is fitted to the data using linear least squares.

See https://git.rwth-aachen.de/CPM/Project/Lab/software/tree/master/matlab_scripts/camera_calibration

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pose_calibration
pose_calibration
Pose Calibration

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