Canonic representations for the geometries of multiple projective views
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Active Camera Calibration for a Head-Eye Platform Using the Variable State-Dimension Filter
IEEE Transactions on Pattern Analysis and Machine Intelligence
Self-Calibration of Stationary Cameras
International Journal of Computer Vision
Camera Self-Calibration: Theory and Experiments
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Autocalibration from Planar Scenes
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Autocalibration and the absolute quadric
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
From projective to Euclidean reconstruction
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Metric calibration of a stereo rig
VSR '95 Proceedings of the IEEE Workshop on Representation of Visual Scenes
Accurate internal camera calibration using rotation, with analysis of sources of error
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Active visual navigation using non-metric structure
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Self-Calibration and Euclidean Reconstruction Using Motions of a Stereo Rig
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Linear auto-calibration for ground plane motion
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
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We consider the problem of aligning and calibrating a binocular pan-tilt device using visual information from controlled motions, while viewing a degenerate (planar) scene. By considering the invariants to controlled motions about pan and elevation axes while viewing the plane, we show how to construct the images of points at infinity in various visual directions. First, we determine an ideal point whose visual direction is orthogonal to the pan and tilt axes, and use this point to align the rig to its own natural reference frame. Second, we show how by combining stereo views we can construct further points at infinity, and determine the left-right epipoles, without computing the full epipolar geometry and/or projective structure. Third, we show how to determine the infinite homography which maps ideal points between left and right camera images, and hence solve for the two focal lengths of the cameras. The minimum requirement is three views of the plane, where the head undergoes one pan, and one elevation. Results are presented using both simulated data, and real imagery acquired from a 4 degree-of-freedom binocular rig.