Algorithms and the Accuracy Characteristics of the Least Squares Method for Estimation of the Geometric Parameters in the System of Two Projection Cameras

摘要

In this paper, we present an algorithm for the estimation of focal distances and the relative position of two projection cameras using a pair of stereo images. The algorithm is based on the fundamental matrix estimation by the least squares method (LSM). Elements of the matrix contain all information about the stereo system geometry, and its subsequent factorization is made to obtain LSM-estimations of geometric parameters. We present the results of numerical experiments on the relief reconstruction of the observed scene using a simulated model and real-life data.