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Stereo Calibration from Rigid Motions

Radu Horaud 1 Gabriella Csurka David Demirdjian
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : This paper describes a method to upgrade projective reconstruction to affine and to metric reconstructions using rigid general or planar motions of a stereo rig. We make clear the algebraic relationships between projective reconstruction, the plane at infinity (affine reconstruction), camera calibration, and metric reconstruction when a 3-D scene is observed with a moving stereo rig. Based on an in-depth algebraic analysis we show that all the computations can be carried out using standard linear resolution methods. We carry out a theoretical error analysis which quantify the relative importance of the accuracies of projective-to-affine conversion and affine-to-Euclidean conversion. Extensive experiments performed with calibrated and natural data confirm the theoretical error analysis and are consistent with a sensitivity analysis performed with simulated data.
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Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 12:14:53 PM
Last modification on : Friday, June 26, 2020 - 4:04:03 PM
Long-term archiving on: : Sunday, April 4, 2010 - 11:38:47 PM


  • HAL Id : inria-00073223, version 1



Radu Horaud, Gabriella Csurka, David Demirdjian. Stereo Calibration from Rigid Motions. RR-3467, INRIA. 1998. ⟨inria-00073223⟩



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