Self-calibration of camera system involves inserting matrices describing transformations into equation giving equation system linear in calibration parameters until it can be fully solved by computer

摘要

The method involves using a number of images of a scene taken from different positions and/or viewing directions and measurement data for the relative rotation of the at least one camera between the individual records, whereby the camera parameters are determined with a linear equation system. It involves determining a first linear transformation from corresponding points in images selected in pairs, determining a second linear transformation representing the rotation, inserting matrices describing the transformations into an equation giving an equation system that is linear in the calibration parameters, inserting further matrices from further image pairs until the equation system can be uniquely solved by computer.