Self-Calibration of a Moving Camera from PointCorrespondences and Fundamental Matrices

  • Authors:

  • Q.-T. Luong;O. D. Faugeras

  • Affiliations:

  • SRI International, 333 Ravenswood av, Menlo Park, CA 94025, USA/ E-mail: luong@ai.sri.com;I.N.R.I.A., 2004 route des Lucioles, B.P. 93 06902 Sophia-Antipolis, France/ E-mail: faugeras@sophia.inria.fr

  • Venue:
  • International Journal of Computer Vision
  • Year:
  • 1997

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Abstract

We address the problem of estimating three-dimensional motion, and structurefrom motion with an uncalibrated moving camera. We show that point correspondences between three images, and the fundamental matrices computed from these pointcorrespondences, are sufficient to recover the internal orientation of thecamera (its calibration), the motion parameters, and to compute coherentperspective projection matrices which enable us to reconstruct 3-Dstructure up to a similarity. In contrast with other methods, no calibration objectwith 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 aprojective camera.The theory of the method, which is based on theconstraint that the observed points are part of a static scene, thus allowing us to link the intrinsicparameters and the fundamental matrix via the absolute conic, is firstdetailed. Several algorithms are then presented, and their performancescompared by means of extensive simulations and illustrated byseveral experiments with real images.