Planar Motion Estimation and Linear Ground Plane Rectification using an Uncalibrated Generic Camera

摘要

We address and solve the self-calibration of a generic camera that performs planar motion while viewing (part of) a ground plane. Concretely, assuming initial sets of correspondences between several images of the ground plane as known, we are interested in determining both the camera motion and the geometry of the ground plane. The latter is obtained through the rectification of the image of the ground plane, which gives a bijective correspondence between pixels and points on the ground plane.