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For robots and autonomous vehicles using cameras it is important to know the relation from the robot coordinate system to the vehicle coordinate system and for an autonomous vehicle also some motion parameters of itself. In this thesis, methods to perform this calibration are presented. These methods are based on the multilinear constraints relating the camera positions and the image points. From the constraints, polynomial expressions are derived for which the minimal solution is the desired calibration parameters. Previos methods require a known map of landmarks. The methods developed here have several advantages. It does not require a map and requires very little computation. |