Abstract

This paper deals with a fundamental problem in motion and stereo analysis, namely that of determining the camera intrinsic calibration parameters. A novel method is proposed that follows the autocalibration paradigm, according to which calibration is achieved not with the aid of a calibration pattern but by observing a number of image features in a set of successive images. The proposed method relies upon the Singular Value Decomposition of the fundamental matrix, which leads to a particularly simple form of the Kruppa equations. In contrast to the classical formulation that yields an over-determined system of constraints, the derivation proposed here provides a straightforward answer to the problem of determining which constraints to employ among the set of available ones. Moreover, the derivation is a purely algebraic one, without a need for resorting to the somewhat non-intuitive geometric concept of the absolute conic. Apart from the fundamental matrix itself, no other quantities...

Citations