This paper presents a new approach for calculation of the extrinsic parameters of a camera using coplanar calibration points. The basic principle of the method is as follows: first create the mapping (MP) from the plane on which the calibration points lie to the image plane, and the extrinsic parameters are then calculated on the basis of MP and vanishing point concept. Experimental results showed that the method is effective.
"Camera calibration based on coplanar points", Proc. SPIE 1820, Videometrics, (24 February 1993); doi: 10.1117/12.141383; https://doi.org/10.1117/12.141383