Title: Geometric Wide-Angle Camera Calibration: A Review and Comparative Study

Abstract: Wide-angle cameras are widely used in photogrammetry and autonomous systems which rely on the accurate metric measurements derived from images. To find the geometric relationship between incoming rays and image pixels, geometric camera calibration (GCC) has been actively developed. Aiming to provide practical calibration guidelines, this work surveys the existing GCC tools and evaluates the representative ones for wide-angle cameras. The survey covers camera models, calibration targets, and algorithms used in these tools, highlighting their properties and the trends in GCC development. The evaluation compares six target-based GCC tools, namely, BabelCalib, Basalt, Camodocal, Kalibr, the MATLAB calibrator, and the OpenCV-based ROS calibrator, with simulated and real data for wide-angle cameras described by four parametric projection models. These tests reveal the strengths and weaknesses of these camera models, as well as the repeatability of these GCC tools. In view of the survey and evaluation, future research directions of wide-angle GCC are also discussed.