Kalibr + aprilcal, TVCAL

Squares: 6 x 6
Total dim: 0.8m x 0.8m
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AprilCal, TVCAL

Squares: 5 x 7
Total dim: 8.5in x 11in
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Kalibr + Opencv, TVCAL

Squares: 7 x 6
Total dim: 0.5m x 0.5m
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Vicalib

Circles: 25 x 18
Distance between circles: 31.56mm
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Vicalib

Circles: 10 x 19
Distance between circles: 14.11mm
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attribution for Calibration Systems

Kalibr from Autonomous Systems Lab at ETH Zurich

Vicalib from Autonomous Robotics and Perception Group at University of Colorado — Boulder

AprilCal from the April Robotics Laboratory at the University of Michigan

OpenCV Pinhole camera calibration

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