## Self-calibration and metric reconstruction in spite of varying and unknown internal camera parameters (1999)

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Venue: | INTERNATIONAL JOURNAL OF COMPUTER VISION |

Citations: | 166 - 13 self |

### BibTeX

@INPROCEEDINGS{Pollefeys99self-calibrationand,

author = {Marc Pollefeys and Reinhard Koch and Luc Van Gool},

title = {Self-calibration and metric reconstruction in spite of varying and unknown internal camera parameters},

booktitle = {INTERNATIONAL JOURNAL OF COMPUTER VISION},

year = {1999},

pages = {7--25},

publisher = {}

}

### Years of Citing Articles

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### Abstract

In this paper the theoretical and practical feasibility of self-calibration in the presence of varying intrinsic camera parameters is under investigation. The paper’s main contribution is to propose a self-calibration method which efficiently deals with all kinds of constraints on the intrinsic camera parameters. Within this framework a practical method is proposed which can retrieve metric reconstruction from image sequences obtained with uncalibrated zooming/focusing cameras. The feasibility of the approach is illustrated on real and synthetic examples. Besides this a theoretical proof is given which shows that the absence of skew in the image plane is sufficient to allow for self-calibration. A counting argument is developed which—depending on the set of constraints—gives the minimum sequence length for self-calibration and a method to detect critical motion sequences is proposed.

### Citations

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615 |
G.: Object modelling by registration of multiple range images
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(Show Context)
Citation Context ...al. may not be able to record images continuously around it. In that case the different frameworks have to be registered to each other. This will be done using available surface registration schemes (=-=Chen and Medioni, 1991-=-). 6. Experiments In this section some experiments are described. First synthetic image sequences were used to assess the quality of the algorithm under simulated circumstances. Both the amount of noi... |

521 |
What can be seen in three dimensions with an uncalibrated stereo rig
- Faugeras
- 1992
(Show Context)
Citation Context ...rs to be known, one can allow (some of) the other parameters to vary throughout the image sequence. Since it became clear that projective reconstructions could be obtained from image sequences alone (=-=Faugeras, 1992-=-, Hartley, 1992), researchers tried to find ways to upgrade these reconstructions to metric (i.e. Euclidean up to unknown scale). Many methods were developed which assumed constant intrinsic camera pa... |

374 | Camera self-calibration: theory and experiments - Faugeras, Luong, et al. - 1992 |

301 | Estimation of relative camera positions for uncalibrated cameras
- Hartley
- 1992
(Show Context)
Citation Context ...one can allow (some of) the other parameters to vary throughout the image sequence. Since it became clear that projective reconstructions could be obtained from image sequences alone (Faugeras, 1992, =-=Hartley, 1992-=-), researchers tried to find ways to upgrade these reconstructions to metric (i.e. Euclidean up to unknown scale). Many methods were developed which assumed constant intrinsic camera parameters. Most ... |

244 | Euclidean reconstruction from uncalibrated views, in - Hartley - 1994 |

225 | Autocalibration and the absolute quadric, in - Triggs - 1997 |

218 |
Algebraic Projective Geometry
- Semple, Kneebone
(Show Context)
Citation Context ...were developed which assumed constant intrinsic camera parameters. Most of these methods are based on the absolute conic which is the only conic which stays fixed under all Euclidean transformations (=-=Semple and Kneebone, 1952-=-). This conic lays in the plane at infinity and its image is directly related to the intrinsic camera parameters, hence the advantage for self-calibration. Faugeras et al. (1992),see also (Luong and F... |

217 | 3D model acquisition from extended image sequences - Beardsley, Torr, et al. - 1996 |

113 | Euclidean reconstruction from image sequences with varying and unknown focal length and principal point - Heyden, Astrom - 1997 |

111 | Self-calibration of a moving camera from point correspondences and fundamental matrices
- Luong, Faugeras
- 1997
(Show Context)
Citation Context ...ebone, 1952). This conic lays in the plane at infinity and its image is directly related to the intrinsic camera parameters, hence the advantage for self-calibration. Faugeras et al. (1992),see also (=-=Luong and Faugeras, 1997-=-), proposed to use the Kruppa equations which enforce that the planes through two camera centers which are tangent to the absolute conic should also be tangent to both of its images. Later on Zeller a... |

111 | Motion Segmentation and Outlier Detection - Torr - 1995 |

110 | Gool: Multi Viewpoint Stereo from Uncalibrated Video Sequences - Koch, Pollefeys, et al. - 1998 |

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74 | Euclidean reconstruction from constant intrinsic parmeters - Heyden, Astrom - 1996 |

41 | Oriented projective geometry for computer vision
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(Show Context)
Citation Context ...elated to the original ones through a similarity transformation (possibly including a mirroring) would satisfy the orthogonality of rows and columns for all views. Using oriented projective geometry (=-=Laveau and Faugeras, 1996-=-) the mirroring ambiguity can easily be eliminated. Therefore selfcalibration and metric reconstruction is possible using this orthogonality constraint only. Of course adding more constraints will yie... |

40 | Hierarchical block-based disparity estimation considering neighborhood constraints
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- 1997
(Show Context)
Citation Context ...queness of the match, and detection of occlusions can be exploited. These constraints are used to guide the correspondence towards the most probable scanline match using a dynamic programming scheme (=-=Falkenhagen, 1997-=-). The most recent algorithm (Koch et al., 1998) improves the accuracy by using a multibaseline approach. 5.4. Building the Model Once a dense correspondence map and the metric camera parameters have ... |

33 | Euclidean 3D reconstruction from image sequences with variable focal lengths - Pollefeys, Gool, et al. |

32 | Euclidean structure from uncalibrated images - Armstrong, Zisserman, et al. - 1994 |

27 |
Automatische Oberflächenmodellierung starrer, dreidimensionaler Objekte aus stereoskopischen RundumAnsichten
- Koch
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(Show Context)
Citation Context ... that restricts the correspondence search to a 1-d search range. In particular it is possible to remap the image pair to standard geometry where the epipolar lines coincide with the image scan lines (=-=Koch, 1996-=-). The correspondence search is then reduced to a matching of the image points along each image scanline. In addition to the epipolar geometry other constraints like preserving the order of neighborin... |

10 | Gool, “A stratified approach to selfcalibration - Pollefeys, van - 1997 |

9 |
Reconstucting ellipsoids from projections
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(Show Context)
Citation Context ...��� � � � � ����� � � � � ��� ��� � ����� ��� . A line tangent to the conic satisfies . A plane tangent to the quadric satisfies . Provide=-=d resp. are full rank and � � � ��� � . It can be shown that (Karl et al., 1994), This equation d-=-escribes the projection of the outline of a dual quadric onto a dual image conic. � � £¦¥ � � ¥ ��� (4)s2.3. Transformations A projective transformation of 3D space is described by a... |

3 | Self-calibration from the absolute conic on the plane at infinity - Pollefeys, Gool - 1997 |

1 | Metric Reconstruction 25 - Self-Calibration - 1997 |