Camera Intrinsic and Extrinsic Parameters

What Are the Intrinsic Parameters?

Intrinsic parameters are internal to a camera, including the focal length, the lens distortion, etc. These parameters are usually calibrated and stored in the camera before the camera leaves the factory.

What Are the Extrinsic Parameters?

Extrinsic parameters describe the pose transformation between the robot reference frame and the camera reference frame. The calibration of extrinsic parameters is also called the hand-eye calibration, where the camera is considered as the eye, and the robot the hand. As the spatial relationship between the robot and the camera changes from application to application, the hand-eye calibration needs to be conducted on site to guarantee its accuracy.