Abstract
This paper describes a method for autocalibrating a stereo rig. A planar object performing general and unknown motions is observed by the stereo rig and, based on point correspondences only, the autocalibration of the stereo rig is computed. A stratified approach is used and the autocalibration is computed by estimating first the epipolar geometry of the rig, then the plane at infinity Π∞ (affine calibration) and finally the absolute conic Ω∞ (Euclidean calibration). We show that the affine and Euclidean calibrations involve quadratic constraints and we describe an algorithm to solve them based on a conic intersection technique. Experiments with both synthetic and real data are used to evaluate the performance of the method.
Chapter PDF
References
M. Armstrong, A. Zisserman, and R. Hartley. Self-calibration from image triplets. In B. Buxton and R Cipolla, editors, Proceedings of the 4th European Conference on Computer Vision, Cambridge, England, volume 1064 of Lecture Notes in Computer Science, pages 3–16. Springer-Verlag, April 1996.
F. Devernay and O. Faugeras. From projective to euclidean reconstruction. In Proceedings of the Conference on Computer Vision and Pattern Recognition, San Francisco, California, USA, pages 264–269, June 1996.
O. Faugeras. Three-Dimensional Computer Vision-A Geometric Viewpoint. Artificial intelligence. The MIT Press, Cambridge, MA, USA, Cambridge, MA, 1993.
O. Faugeras. Stratification of three-dimensional vision: Projective, affine and metric representations. Journal of the Optical Society of America, 12:465–484, 1995.
O.D. Faugeras, Q.T. Luong, and S.J. Maybank. Camera self-calibration: Theory and experiments. In G. Sandini, editor, Proceedings of the 2nd European Conference on Computer Vision, Santa Margherita Ligure, Italy, pages 321–334. Springer-Verlag, May1992.
R. Hartley. In defence of the 8-point algorithm. In Proceedings of the 5th International Conference on Computer Vision, Cambridge, Massachusetts, USA, pages 1064–1070, June1995.
R.I. Hartley. Euclidean reconstruction from uncalibrated views. In Proceeding of the darpa-esprit workshop on Applications of Invariants in Computer Vision, tAzores, Portugal, pages 187–202, October1993.
R.I. Hartley. Projective reconstruction and invariants from multiple images. ieee Transactions on Pattern Analysis and Machine Intelligence, 16(10):1036–1041, October 1994.
A. Heyden and K. Åström. Euclidean reconstruction from constant intrinsic parameters. In Proceedings of the 13th International Conference on Pattern Recognition, Vienna, Austria, volume I, pages 339–343, August1996.
R. Horaud and G. Csurka. Self-calibration and euclidean reconstruction using motions of a stereo rig. In Proceedings of the 6th International Conference on Computer Vision, Bombay, India, pages 96–103, January1998.
D. Liebowitz, A. Criminisi, and A. Zisserman. Creating architectural models from images. In Proc. EuroGraphics, volume 18, pages 39–50, September1999.
Q.T. Luong and T. Vieville. Canonic representations for the geometries of multiple projective views. Technical report, University of California, Berkeley, EECS, Cory Hall 211–215, University of California, Berkeley, CA 94720, October1993.
S. Maybank. Theory of Reconstruction from Image Motion. Springer-Verlag, 1993. 628
M. Pollefeys and L. Van Gool. A stratified approach to metric self-calibration. In Proceedings of the Conference on Computer Vision and Pattern Recognition, Puerto Rico, USA, pages 407–412. ieee Computer Society Press, June1997.
J.G. Semple and G.T. Kneebone. Algebraic Projective Geometry. Oxford Science Publication, 1952.
P. Sturm and S. Maybank. On plane-based camera calibration: A general algorithm, singularities, applications. Proceedings of the Conference on Computer Vision and Pattern Recognition, Fort Collins, Colorado, USA, 1999.
B. Triggs. Autocalibration from planar scenes. In Proceedings of the 5th European Conference on Computer Vision, Freiburg, Germany, 1998.
Z. Zhang. A flexible new technique for camera calibration. In Proceedings of the 7th International Conference on Computer Vision, Kerkyra, Greece, September1999.
Z. Zhang, R. Deriche, O. D. Faugeras, and Q-T. Luong. A robust technique for matching two uncalibrated images through the recovery of the unknown epipolar geometry. Artificial Intelligence, 78(1–2):87–119, October1995.
A. Zisserman, P.A. Beardsley, and I.D. Reid. Metric calibration of a stereo rig. In Workshop on Representation of Visual Scenes, Cambridge, Massachusetts, USA, pages 93–100, June1995.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Demirdjian, D., Zisserman, A., Horaud, R. (2000). Stereo Autocalibration from One Plane. In: Vernon, D. (eds) Computer Vision — ECCV 2000. ECCV 2000. Lecture Notes in Computer Science, vol 1843. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45053-X_40
Download citation
DOI: https://doi.org/10.1007/3-540-45053-X_40
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-67686-7
Online ISBN: 978-3-540-45053-5
eBook Packages: Springer Book Archive