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A Theory of Self-Calibration of a Moving Camera

S. Maybank
O. Faugeras
Journal / Anthology

International Journal of Computer Vision
Year: 1992
Volume: 8
Issue: 2
Page range: 123-151

There is a close connection between the calibration f a single camera and the epipolar transformation obtained when the camera undergoes a displacement. The epipolar transformation imposes two algebraic constrants on the camera calibration. If two epipolar transformations, arising from different camera displacements, are available, then the compatible camera calibrations are parametrized by an algebraic curve of genus four. The curve can be represented either by a space curve of degree seven contained in the intersection of two cubic surfaces, or by a curve of degree six in the dual of the image plane. The curve in the dual plain has one singular point of order three and three singular points of order two. If three epipolar transformations are available, then two curves of degree six can be obtained in the dual plane such that one of the real intersections of the two yields the correct camera calibration. The two curves have a common singular point of order three.

*Engineering > Signal Processing