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<6465026e6564> -243.988 (that) -245.012 (is) -243.996 (aligned) -243.988 (to) -244 (the) -244.021 (calibrated) -243.988 (area) -243.994 (\050dashed) -244.015 (pink) ] TJ T* [ (rectangle\051) -283 (and) -283.02 (e) 15.011 (xtends) -283.006 (be) 15.011 (yond) -283 (it) -282.985 (by) -283 (one) -283.023 (cell\056) -408.992 (A) -283.012 (point) -282.985 (\050red\051) -283.017 (is) -282.99 (un\055) ] TJ T* [ (projected) -209.996 (by) -209.985 (B\055Spline) -209.011 (surf) 9.99554 (ace) -209.996 (interpolation) -209.991 (of) -210.002 (the) -209.996 (v) 25.0066 (alues) -210.007 (stored) -209.005 (for) ] TJ T* [ (its) -362.007 (surrounding) -363.003 (4x4) -361.985 (points) -363.009 (\050blue\051\056) -648.008 (I) 0.98567 (nterpolation) -363.003 (happens) -362.018 (among) ] TJ T* [ (directions) -245.992 (\050gray) -246.017 (and) -245.989 (blue) -245.981 (arro) 25.0011 (ws\051) -245.992 (starting) -246.014 (from) -245.992 (a) -245.987 (projection) -244.996 (center) ] TJ T* [ (\050black) -369 (dot\051) -368.003 (for) -368.983 (the) -368.008 (central) -369.007 (model) -367.997 (\050b\051\054) -398.978 (and) -368.019 (among) -369.01 (arbitrary) -368.013 (lines) ] TJ 10.9578 TL T* [ (\050gray) -249.981 (and) -249.997 (blue) -249.989 (arro) 25.0038 (ws\051) -249.997 (for) -250.006 (the) -249.989 (non\055central) -250 (model) -249.978 (\050c\051\056) ] TJ /R10 9.9626 Tf 18.8699 TL T* [ (pretation) -331.999 (of) -331.981 (the) -332.996 (camera) -331.991 (geometry) 64.9941 (\056) -555.981 (The) 14.9828 (y) -332.998 (densely) -332.003 (associate) ] TJ 11.9551 TL T* [ (pix) 14.995 (els) -336.993 (with) -337.02 (observ) 24.9909 (ation) -336.983 (lines) -336.983 (or) -337.983 (rays\073) -380.005 (in) -336.993 (the) -338.012 (e) 15.0122 (xtreme) -336.988 (case\054) ] TJ T* [ (a) -375.001 (separate) -374.999 (line) -374.982 (is) -374.984 (st) 0.99248 (ored) -374.994 (for) -374.996 (each) -375.006 (pix) 14.9975 (el) -374.991 (in) -374.986 (the) -374.986 (camera) -375.006 (im\055) ] TJ T* [ (age\056) -325.005 (Due) -255.014 (to) -253.985 (their) -255.004 (man) 14.9901 (y) -255.011 (de) 15.0171 (grees) -255.016 (of) -255.016 (freedom\054) -255.987 (the) 14.9877 (y) -255.011 (may) -255.002 <0274> -254.997 (all) ] TJ 11.9559 TL T* [ (kinds) -230.991 (of) -231.018 (cameras\054) -235.02 (allo) 24.9909 (wing) -231 (to) -231.991 (obtai) 1 (n) -231.996 (accurate\054) -234.99 (bias\055free) -230.986 (cal\055) ] TJ 11.9551 TL T* [ (ibrations\056) -309.99 (Fig\056) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R10 9.9626 Tf 1 0 0 1 367.582 236.907 Tm (2) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R10 9.9626 Tf 1 0 0 1 375.054 236.907 Tm [ (sho) 24.9934 (ws) -249.988 (the) -249.988 (models) -250.007 (considered) -249.983 (in) -249.988 (this) -250.012 (paper) 55.0104 (\056) ] TJ -54.2367 -12.2 Td [ (Pre) 24.9836 (vious) -212.994 (generic) -212.984 (calibration) -212.014 (approaches) -213.018 (\050) ] TJ /R16 9.9626 Tf 163.16 0 Td (cf) Tj /R10 9.9626 Tf 8.64687 0 Td [ (\056) -212.979 (Sec\056) ] TJ ET Q 1 0 0 rg q 10 0 0 10 0 0 cm BT /R10 9.9626 Tf 1 0 0 1 516.235 224.707 Tm (2) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R10 9.9626 Tf 1 0 0 1 521.216 224.707 Tm [ (\051) -212.009 (ha) 19.9967 (v) 14.0026 (e) ] TJ -212.354 -11.9547 Td [ (seen) -344.019 (limited) -344.999 (use) -344.014 (in) -344.009 (practice\056) -593 (On) -344.991 (the) -344.011 (one) -344.016 (hand\054) -368.002 (this) -345.016 (might) ] TJ 11.9551 TL T* [ (be) -315.986 (since) -316.016 (there) -315.986 (is) -316.013 (no) -316.016 (readily) -316.011 (usable) -316.011 (implementation) -315.996 (for) -315.986 (an) 15.0171 (y) ] TJ 11.9563 TL T* [ (e) 15.0122 (xisting) -386.012 (approach\056) -717.99 (On) -386.007 (the) -386.004 (other) -386.004 (hand\054) -419.994 (the) -386.004 (community) -386 (at) ] TJ 11.9547 TL T* [ (lar) 17.997 (ge) -257.016 (does) -255.984 (not) -256.999 (seem) -257.006 (to) -255.984 (be) -257.016 (a) 15.0122 (w) 10.0032 (are) -256.987 (of) -255.996 (the) -257.006 (practical) -257.011 (adv) 24.9811 (antages) ] TJ T* [ (of) -249.995 (generic) -249.997 (calibration) -250.01 (approaches) -249.993 (o) 14.9828 (v) 14.9828 (er) -250.007 (parametric) -249.988 (models\056) ] TJ 11.9547 -12.2 Td [ (Our) -208 (contrib) 20.0187 (utions) -208.009 (are) -206.997 (thus\072) -289.02 (1\051) -208.005 (W) 79.9866 (e) -208.009 (propose) -207.985 (impro) 15.0024 (v) 14.9828 (ements) ] TJ -11.9547 -11.9551 Td [ (to) -231.988 (camera) -232.008 (calibrat) 0.99003 (ion\054) -236.019 (in) -231.988 (particular) -231.01 (to) -231.991 (the) -231.991 (calibration) -232.01 (pattern) ] TJ T* [ (and) -366.993 (feature) -365.986 (e) 15.0122 (xtraction\054) -395.985 (to) -366.988 (increase) -365.978 (accurac) 14.9975 (y) 65.0137 (\056) -660.003 (2\051) -366.998 (W) 79.9866 (e) -367.002 (sho) 24.9909 (w) ] TJ 11.9559 TL T* [ (the) -281.985 <62656e65027473> -282.002 (of) -281.99 (accurate) -282.004 (generic) -281.992 (calibration) -282.002 (o) 14.9828 (v) 14.9828 (er) -282.002 (parametric) ] TJ 11.9551 TL T* [ (models\054) -363.983 (in) -340.99 (particular) -340.99 (on) -342.012 (the) -340.992 (e) 15.0122 (xamples) -341.017 (of) -341.002 (stereo) -340.997 (depth) -342.002 (and) ] TJ T* [ (camera) -254.004 (pose) -255.004 (estimation\056) -322.993 (3\051) -255.016 (W) 79.9866 (e) -254.002 (publish) -255.016 (our) -253.992 (easy\055to\055use) -255.002 (cal\055) ] TJ T* [ (ibration) -198.016 (pipeline) -196.999 (and) -198.001 (generic) -196.987 (camera) -198.016 (models) -198.016 (as) -196.987 (open) -197.996 (source\056) ] TJ ET Q /R28 gs Q Q q 1 0 0 -1 0 792 cm q 1 1 1 rg /a0 gs 48.406 3.066 515.188 33.723 re f 0.44706 0.57647 0.77255 rg /a1 gs 77.262 5.789 m 71.715 5.789 67.215 10.68 67.215 16.707 c 67.215 22.738 71.715 27.625 77.262 27.625 c 78.852 27.625 80.355 27.223 81.691 26.508 c 79.777 22.742 l 79.008 23.121 78.16 23.332 77.262 23.332 c 73.895 23.332 71.164 20.363 71.164 16.707 c 71.164 13.051 73.895 10.082 77.262 10.082 c 78.598 10.082 79.828 10.555 80.832 11.348 c 83.789 8.402 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