Abstract
Self-calibration for imaging sensors is essential to many computer vision applications. In this paper, a new stratified self-calibration method is proposed for a stereo rig undergoing planar motion with varying intrinsic parameters. We show that the plane at infinity in a projective frame can be identified by (i) a constraint developed from the properties of planar motion for a stereo rig and (ii) a zero-skew assumption of the camera. Once the plane at infinity is identified, the calibration matrices of the cameras and the upgrade to a metric reconstruction can be readily obtained. The proposed method is more flexible than most existing self-calibration methods in that it allows all intrinsic parameters to vary. Experimental results for both synthetic data and real images are provided to show the performance of the proposed method.
The work described in this paper is partially supported by a grant from the Research Grant Council of the Hong Kong Special Administrative Region, China (Project No. HKU 7058/02E) and partially supported by CRCG of The University of Hong Kong
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Li, Y., Hung, Y.S. (2004). A Stratified Self-Calibration Method for a Stereo Rig in Planar Motion with Varying Intrinsic Parameters. In: Rasmussen, C.E., Bülthoff, H.H., Schölkopf, B., Giese, M.A. (eds) Pattern Recognition. DAGM 2004. Lecture Notes in Computer Science, vol 3175. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28649-3_39
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DOI: https://doi.org/10.1007/978-3-540-28649-3_39
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