Maintaining Stereo Calibration by Tracking Image Points

James L. Crowley 1 Philippe Bobet 1, 2 Cordelia Schmid 3
2 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 : An important problem in active 3-D vision is updating the camera calibration matrix as the focus, aperture, zoom or vergence angle of the cameras changes dynamically. Techniques are presented to compute the projection matrix from five-and-a-half points in a scene without matrix inversion, and to correct the projective transformation matrix by tracking reference points. The authors' experiments show that a change of focus can be corrected by an affine transform obtained by tracking three points. For a change in camera vergence, a projective correction, based on tracking four image points, is slightly more precise than an affine correction matrix. It is shown how stereo reconstruction makes it possible to `hop' a reference frame from one object to another. Any set of four non-coplanar points in the scene may define such a reference frame. It is shown how to keep the reference frame locked onto a set of four points as a stereo head is translated or rotated. These techniques make it possible to reconstruct the shape of an object in in its intrinsic coordinates without having to match new observations to a partially reconstructed description.
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James L. Crowley, Philippe Bobet, Cordelia Schmid. Maintaining Stereo Calibration by Tracking Image Points. International Conference on Computer Vision & Pattern Recognition (CVPR '93), Jun 1993, New York, United States. pp.483--488, ⟨10.1109/CVPR.1993.341086⟩. ⟨inria-00548428⟩

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