Stereo camera calibration references

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I am using the Stereo Camera Calibrator in Matlab 2015b. However, I found the below two papers which mentioned at
[1] Zhang, Z. "A Flexible New Technique for Camera Calibration". IEEE Transactions on Pattern Analysis and Machine Intelligence.Vol. 22, No. 11, 2000, pp. 13301334.
[2] Heikkila, J, and O. Silven. "A Four-step Camera Calibration Procedure with Implicit Image Correction." IEEE International Conference on Computer Vision and Pattern Recognition. 1997.
After running the Matlab implementation for Stereo Camera Calibrator in different Matlab versions, I have seen improvement in the latest version (Matlab 2015b) compare to the original papers [1, 2].
I appreciate your help if you can provide me the citation information for the latest implemented method in Matlab 2015b.

Accepted Answer

Dima Lisin
Dima Lisin on 8 Jan 2016
Hi Farshid,
Could you please be more specific? To what exactly were you comparing the Stereo Camera Calibrator? To a previous version of MATLAB or to some other implementation?
The basic algorithm used by the Stereo Camera Calibrator is the same as the one in the Caltech Camera Calibraton Toolbox by Jean-Yves Bouguet. However, the Stereo Camera Calibrator app uses an automatic checkerboard detection algorithm, and it also uses Levenberg-Marquardt nonlinear least squares optimization algorithm, rather than gradient descent.
Dima Lisin
Dima Lisin on 8 Jan 2016
The closest reference is the paper by Zhang, and the documentation for the Caltech Toolbox. The overall algorithm is basically the same for Caltech, OpenCV, and the Camera Calibrator app. However, the accuracy of the checkerboard detection, and the particular optimization algorithm used have a big effect on the overall calibration accuracy.

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