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NOTE                   = "This paper is a draft of an article that was
                          submitted for inclusion as a chapter of a
                          book; however, the book was never published.
                          The only digital copy of the paper available
                          from the author was in Postscript format,
                          which we have included on this CD.  Due to
                          the numerous mathematical equations
                          contained in the paper, and the resulting
                          difficulty in converting it to Adobe PDF,
                          there was insufficient time to make the
                          conversion.  A text version of the document
                          has been included in which an attempt has
                          been made to recreate the equations using
                          only ASCII characters.  Additionally, the
                          document was converted to HTML, with the
                          equations included as GIF format images.

                          If at all possible, please use the
                          Postscript format of this document as your
                          first choice, since the equations are
                          rendered most clearly in that version.  The
                          text version should only be used as a last
                          resort, if neither the Postscript version,
                          nor the GIF format images can be read.  In
                          that case, please be aware of the following
                          conventions used in the document:

                          - Dot products have been indicated with the
                            word 'dot'.
                          - Cross products have been indicated with
                            the letter 'x'.  Occassionally, both the
                            variable x and the cross product sign
                            appear in the same equation; it should be
                            clear from context which is which.
                          - Without the capability of showing
                            bold-faced text, there has been no way to
                            indicate the presence of vectors, which
                            appear in many places throughout the
                            document.  In general, when the following
                            variables appear, they are usually
                            vectors: a, c, d, e, g, h, o, p, u, and v.
                            The variable r is also sometimes a vector.
                          - The matrices A, C, I, K, M, and N are
                            likewise not displayed in bold-faced type.
                          - Many Greek characters are used in the
                            document.  Several are spelled out,
                            namely, alpha, gamma, rho, sigma, and tau;
                            others are represented by single letters:
                            b = beta, l = lamda, u = mu, and z = zeta.
                          - Subscripts are denoted with parentheses:
                            ex. p(i).
                          - Superscripts are denoted with a double
                            asterisk: ex. K**T.
                          - The author makes use of a circumflex over
                            the variables x and y, representing
                            computed values, to distinguish them from
                            measured values.  In the text version of
                            the document, the circumflex appears
                            immediately after the variable, rather
                            than directly above it.
                          - The letter d has been used to denote
                            partial derivatives.  Since there are no
                            simple derivatives in the document, every
                            time some combination of d / d appears,
                            you may assume that it is a partial
                            derivative.
                          - Due to the complexity of the matrix shown
                            in equation 27, a substitution had to made
                            that did not appear in the original paper.
                            This is explained in the text.
                          - The matrix shown in equation 29 is also
                            fairly complex, and had to be split across
                            two lines.  Use care in reading it."

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                          Lens Distortion and Automatic Editing of
                          Calibration Points"
  PUBLICATION_DATE     = 1993-08-02
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  DESCRIPTION          = "This document contains a description of the
                          calibration procedure for cameras like those
                          used on the Mars Pathfinder Rover."
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  DOCUMENT_NAME        = "Least-Squares Camera Calibration Including
                          Lens Distortion and Automatic Editing of
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  DOCUMENT_TOPIC_TYPE  = "CALIBRATION DESCRIPTION"
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  DESCRIPTION          = "This document contains a description of the
                          calibration procedure for cameras like those
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  DOCUMENT_NAME        = "Least-Squares Camera Calibration Including
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  DESCRIPTION          = "This document contains a description of the
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