Based on this algorithm a self - calibration approach taking account of camera two - degree radial distortion is proposed . the five intrinsic parameters and two - degree radial distortion coefficients can be calibrated by controlling the camera to undergo more than 4 translation motion which are not co - planar 在此基础上还提出了一种考虑二阶径向畸变的非线性自标定算法，通过控制摄像机作四次不共面的纯平移运动，可以标定摄像机的五个内参数和两个径向畸变系数。
