Self-Calibration from Image Derivatives

摘要

This study investigates the problem of estimating camera calibration parameters from image motion fields induced by a rigidly moving camera with unknown parameters, where the image formation is modeled with a linear pinhole-camera model. The equations obtained show the flow to be separated into a component due to the translation and the calibration parameters and a component due to the rotation and the calibration parameters. A set of parameters encoding the latter component is linearly related to the flow, and from these parameters the calibration can be determined.