Identification of relative position and orientation of two cameras in stereo vision of moving rigid body

摘要

We obtain the calibration parameters between a pair of cameras from motion and shape cues obtained from a moving rigid body in space. The relative positions of the two cameras are assumed to be unknown, i.e. we are in an uncalibrated stereo situation. It is proved that, under certain generic conditions, relative orientation can be determined uniquely, whereas the relative position can be recovered only up to a one parameter ambiguity.