Camera Calibration Effects of Rotation Matrix Expression

Because the initial values of the position and attitude are unable to get,in the big inclination angle images of camera calibration,it may lead to non-convergence iterations by classical collinearity equation of rotation matrix of Euler angle. In collinearity equation,rotation matrix can also be expressed by the direction cosine or unit quaternion. Then the camera calibration can not rely on the initial values of the position and attitude. This paper uses the same data,the same initial values and the same convergence conditions. The experimental results show that the direction cosine method is better than the unit quaternion method. It mainly reflected in the convergence case and the calculate value corresponds closely to the method of Euler angle. In the non-metric camera calibration,we recommend that the best choice is the rotation matrix expressed by direction cosine in collinearity equation.