DescriptionThis paper describes three kinds of pinhole camera models: the camera without lens distortion and calibration, the camera with lens distortion, and the distorted camera calibrated using an inverse lens distortion series of different orders. In this paper, most equations are in matrix form, which makes programming dramatically more comfortable. During the lens distortion process, we used second-order coefficients to simulate the lens distortion. Due to the quantization error when converting image coordinates to pixel coordinates, the actual distortion coefficients are estimated by a least-squares algorithm. The estimated distortion coefficients are applied in the inverse lens distortion series to calibrate the cameras. The position of the ball is triangulated by using a system of eight cameras. The triangulation algorithm will be introduced in Chapter 4. Finally, Chapter 5 compares the performance of the system with and without lens distortion and with various levels of camera calibration to correct for lens distortion.