Optimal combination of stereo camera calibration from arbitrary stereo images

摘要

Many stereo correspondence algorithms require relative camera geometry, as the epipolar constraint is fundamental to their matching processes. We intend to build a eye/head camera rig to mount on the mobile platform COMODE to enhance the abilities of the TINA system to recover 3D geometry from its environment. Thus we need to be able to associate camera geometry with particular head configurations. Generic calibration of such a system would require the ability to compute camera geometry from arbitrary stereo images. A system which solves this problem using an established corner detector combined with a robust stereo matching algorithm and a variational solution for the camera geometry is described.