Closed-form Solutions for the Euclidean Calibration of a Stereo Rig

Gabriela Csurka 1 David Demirdjian 1 Andreas Ruf 1 Radu Horaud 1
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 : In this paper we describe a method for estimating the internal parameters of the left and right cameras associated with a stereo image pair. The stereo pair has known epipolar geometry and therefore 3-D projective reconstruction of pairs of matched image points is available. The stereo pair is allowed to move and hence there is a collineation relating the two projective reconstructions computed before and after the motion. We show that this collineation has similar but different parameterizations for general and ground-plane rigid motions and we make explicit the relationship between the internal camera parameters and such a collineation. We devise a practical method for recovering four camera parameters from a single general motion or three camera parameters from a single ground-plane motion. Numerous experiments with simulated, calibrated and natural data validate the calibration method.
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Gabriela Csurka, David Demirdjian, Andreas Ruf, Radu Horaud. Closed-form Solutions for the Euclidean Calibration of a Stereo Rig. 5th European Conference on Computer Vision (ECCV '98), Jun 1998, Freiburg, Germany. pp.426--442, ⟨10.1007/BFb0055682⟩. ⟨inria-00590090⟩

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