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. 2019 Sep 21;19(19):4083. doi: 10.3390/s19194083

Figure 4.

Figure 4

The simulated indoor experimental environment and samples of the captured calibration images in camera calibration: (a) utilized moving camera and attached tilt sensor (with weight); (b) utilized moving camera and attached tilt sensor (without weight); (c) experimental configuration of a stationary and a moving calibration targets; (d) samples of the calibration images, where the image intensities need not be constant due to the robust checkerboard corner detections.