A simplified imaging model of bi-telecentric lenses under Scheimpflug condition and its calibration

In the lens-based imaging model, the Scheimpflug principle is expressed as the object plane, the image plane, and the lens plane intersect in a line. With this principle, the object surface in front of the lens can be tilted by installing a tilted sensor, thereby significantly extending the axial distribution of the clear-imaging area. In order to calibrate the bi-telecentric lens under the Scheimpflug condition, we derived a concise imaging model, and the corresponding calibration method without solving the rotation or tilt angle is proposed. The re-projection error is calculated in the experiment to verify the effectiveness of our method.