Optimization is the process of minimzing a given function of an arbitrary number of parameters to achieve the best possible value for each parameter in the set to a high degree of accuracy. After all the parameters necessary for calibration have been estimated as above, the entire set is optimized based on the function given by the sum of ther errors between each detected point and the ideal (model) points given and homographized with the data above. While this ought to decrease the total error, it has been found during this project that optimization worsens the model greatly. This probably means that the cost function is not well-behaved, in which case there is not much that can be done about the problem. Thus the optimization has now been discarded; however, it is still useful in theory and useful to Zhang. The error is probably on the part of this project in using the optimization incorrectly.