Camera self-calibration having the varying parameters and based on homography of the plane at infinity

摘要

In this approach, we will process a self-calibration problem of camera characterized by varying parameters. Our approach is based on estimating of homography of the plane at infinity and depths of interest points. This estimation is made from resolution of nonlinear equation system that is formulated from the projection of some points of the scene in the planes of different images. The relationships established between the homography of the plane at infinity and matches, between images, and those established between points of the 3D scene and their projections, in image planes, allow formulating the second nonlinear equations. This system is minimized by using the Levenberg-Marquardt algorithm to estimate the intrinsic parameters of used camera. This approach has several strong points: i) The use of any cameras (having varying parameters), ii) The use of any scenes (3D) and iii) the use of a minimum number of images (two images only). Experiments and simulations show the performance of this approach in terms of stability, accuracy and convergence.