Self-Calibration of a Moving Camera from Point Correspondences and Fundamental Matrices

摘要

We address the problem of estimating three-dimensional motion, and structure from motion with an uncalibrated moving camera. We show that point correspondences between three images, and the fundamental matrices computed from these point correspondences, are sufficient to recover the internal orientation of the camera (its calibration), the motion parameters, and to compute coherent perspective projection matrices which enable us to reconstruct 3-D structure up to a similarity. In contrast with other methods, no calibration object with a known 3-D shape is needed, and no limitations are put upon the unknown motions to be performed or the parameters to be recovered, as long as they define a projective camera.