Auto-calibration by linear iteration using the DAC equation

摘要

This paper presents an iterative algorithm for auto-calibration. The proposed algorithm switches between linearly estimating the dual of the absolute conic and the intrinsic parameters, while also incorporating the rank-3 constraint on the intrinsic parameters. The proposed algorithm locates in-between of a non-linear optimization and initial linear computation, and provides robust and sufficiently accurate initial values for a bundle adjustment. The performance of the algorithm is shown for both simulated and real data, especially in the important case of natural (zero skew and unit aspect ratio) cameras.