Self-Calibration of Stationary Cameras
International Journal of Computer Vision
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Shape Ambiguities in Structure from Motion
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Self-Calibration from Image Triplets
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Critical Motion Sequences for Monocular Self-Calibration and Uncalibrated Euclidean Reconstruction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Self-Alignment of an Active Head from Observations of Rotation Matrices
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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Reconstructing the scene from image sequences captured by moving cameras with varying intrinsic parameters is one of the major achievements of computer vision research in recent years. However, there remain gaps in the knowledge of what is reliably recoverable when the camera motion is constrained to move in particular ways. This paper considers the special case of multiple cameras whose optic centres are fixed in space, but which are allowed to rotate and zoom freely, an arrangement seen widely in practical applications. The analysis is restricted to two such cameras, although the methods are readily extended to more than two. As a starting point an initial self-calibration of each camera is obtained independently. The first contribution of this paper is to provide an analysis of near-ambiguities which commonly arise in the self-calibration of rotating cameras. Secondly we demonstrate how their effects may be mitigated by exploiting the epipolar geometry. Results on simulated and real data are presented to demonstrate how a number of self-calibration methods perform, including a final bundle-adjustment of all motion and structure parameters.