Camera model) Intrinsic parameters I extrinsic parameters I projection Bd to 2D projection http://upload.wikimediaorg/wikipedia/en/8/81/pinhole-camera.png Pinhole Camera Perspective model U=F* X/Z V=F*Y/Z Screen or ccd World https:lenswikipediaorg/wiki/charge-couplEddevicecenter sensor Y V 素v Screen Or Thin lens CCD Ch2. Cameras v0.b2 or a pin hole sensorCamera model | Intrinsic parameters | extrinsic parameters | projection 3D to 2D projection Perspective model u=F*X/Z v=F*Y/Z F Z Y v World center F Thin lens or a pin hole Virtual Screen or CCD https://en.wikipedia.org/wiki/Charge-coupled_device sensor Real Screen Or CCD sensor Pinhole Camera http://upload.wikimedia.org/wikipedia/en/8/81/Pinhole-camera.png v Ch2. Cameras v.0.b2 4