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We present a simple and accurate procedure to calibrate the pinhole parameters of a Time-of-Flight camera: the principal point $$c=(u_0, v_0)$$c=(u0,v0), the focal length $$f$$f and, if needed, the aspect ratio $$\\tau $$¿. Only one image of a flat surface is needed. Using the radial distances as provided by the Time-of-Flight principle, we reconstruct the pixel rows (or pixel columns) as collinear points in 3-space. Motivated by theoretical results, we claim that the correct values for $$u_0$$u0, $$v_0$$v0 and $$f$$f can be found by an incremental procedure. In case of unknown aspect ratio, some (but few) iterations are needed.

An Incremental Procedure for the Lateral Calibration of a Time-of-Flight Camera by One Image of a Flat Surface