Zhang, Z. and Luong, Q.-T. and Faugeras, O. D. Self-calibration of an uncalibrated stereo rig from one unknown motion, in British Machine Vision Conference, York, UK, 1994.
We address in this paper the problem of self-calibration and metric reconstruction (up to a scale) from one unknown motion of an uncalibrated stereo rig. The epipolar constraint is first formulated for two uncalibrated images. The problem then becomes one of estimating unknowns such that the discrepancy from the epipolar constraint, in terms of sum of squared distances between points and their corresponding epipolar lines, is minimized. Redundancy of the information contained in a sequence of stereo images makes this method more robust than using a sequence of monocular images. Real data have been used to test the proposed method, and the results obtained are quite good. We also show experimentally that it is very difficult to estimate precisely the coordinates of the principal points of cameras. A variation of as high as several dozen pixels in the principal point coordinates does not affect significantly the 3-D reconstruction. A theoretical analysis is provided in this paper to explain this phenomenon.