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As the B-spline ﬁtting relates to an average deviation between the distance d(x, y, k ) and the expected distance dref (x, y, k ), b(d(x, y, k )) ≈ davg (k ) − dref (x, y, k ), (3) an evaluation of the B-spline at a per-pixel distance leads to errors in the global adjustment. 3 dp (k ) ≈ bglob (d(x, y, k )) + dp (x, y, k ) avg ref Thus, the overall distance calibration is given by dc (x, y, k ) = bglob (d(x, y, k ) − lx,y (d(x, y, k ))) To eliminate remaining distance deviations a second line ﬁtting analog to the pre-adjustment can be performed.
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