Abstract: A method and an apparatus for camera calibration are described. The method and the apparatus use an image dataset in which a calibration object is captured by a camera. 2D and 3D correspondences are acquired from the image dataset, as well as reprojection errors of the 2D and 3D correspondences. A reliability map of a retinal plane of the camera is generated using the acquired reprojection errors, which indicates a reliability measure of the geometrical information carried by each pixel of the retinal plane of the calibrated camera.