详细介绍了非线性模型下的摄像机自标定、广角镜头的摄像机非线性标定技术、基于非线性最优化的摄像机标定方法以及一种逐步求解的新的摄像机线性标定方法。该文档对当今相机标定技术做了完全归纳，对初学者和提高者有很大的帮助价值。-Detailed nonlinear model of camera self-calibration, non-linear wide-angle lens camera calibration technique, based on nonlinear optimization of camera calibration methods, and a step by step to solve the new linear camera calibration method. The document of today s camera calibration technique to do a fully summarized, for beginners and those who enhance the value of great help.