Closed-Form Solutions for the Euclidean Calibration of a Stereo Rig
Abstract
In this paper we describe a method for estimating the internal parameters of the left and right cameras associated with a stereo image pair. The stereo pair has known epipolar geometry and therefore 3-D projective reconstruction of pairs of matched image points is available. The stereo pair is allowed to move and hence there is a collineation relating the two projective reconstructions computed before and after the motion. We show that this collineation has similar but different parameterizations for general and ground-plane rigid motions and we make explicit the relationship between the internal camera parameters and such a collineation. We devise a practical method for recovering four camera parameters from a single general motion or three camera parameters from a single ground-plane motion. Numerous experiments with simulated, calibrated and natural data validate the calibration method.
Cite
Text
Csurka et al. "Closed-Form Solutions for the Euclidean Calibration of a Stereo Rig." European Conference on Computer Vision, 1998. doi:10.1007/BFB0055682Markdown
[Csurka et al. "Closed-Form Solutions for the Euclidean Calibration of a Stereo Rig." European Conference on Computer Vision, 1998.](https://mlanthology.org/eccv/1998/csurka1998eccv-closed/) doi:10.1007/BFB0055682BibTeX
@inproceedings{csurka1998eccv-closed,
title = {{Closed-Form Solutions for the Euclidean Calibration of a Stereo Rig}},
author = {Csurka, Gabriela and Demirdjian, David and Ruf, Andreas and Horaud, Radu},
booktitle = {European Conference on Computer Vision},
year = {1998},
pages = {426-442},
doi = {10.1007/BFB0055682},
url = {https://mlanthology.org/eccv/1998/csurka1998eccv-closed/}
}