Self-Calibration of a Stereo Rig Using Monocular Epipolar Geometry

Abstract

This paper addresses the problem of self-calibration from one unknown motion of an uncalibrated stereo rig. Unlike the existing methods for stereo rig self-calibration, which have been focused on applying the autocalibration paradigm using both motion and stereo correspondences, our method does not require the recovery of stereo correspondences. Our method combines purely algebraic constraints with implicit geometric constraints. Assuming that the rotational part of the stereo geometry has two unknown degrees of freedom and the principle point of each camera is known, we show that the computation of the intrinsic and extrinsic parameters of the stereo rig can be recovered from the motion correspondences only, i.e. the monocular fundamental matrices. We provide a stability study for the method in the presence of image noise. Synthetic and real experiments demonstrate the feasibility and robustness of the proposed method.