@article{Tsai_1987,
title={A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses},
volume={3},
ISSN={0882-4967},
url={http://dx.doi.org/10.1109/jra.1987.1087109},
DOI={10.1109/jra.1987.1087109},
number={4},
journal={IEEE Journal on Robotics and Automation},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
author={Tsai,
R.},
year={1987},
month=aug,
pages={323–344} }