A Stereo Planar Self-Calibration Method of a Camera with Variable Intrinsic Parameters

Abstract

In this work a robust technique of camera self-calibration with variable intrinsic parameters from unknown planar scene is presented. The main idea of our present method consists to use only two images of the scene by basing on the corresponding points between the two images which are numerous and easy to determine, the handling of only two images reduces remarkably the computation time of our method. From the projection of only two scene points and by using the image of absolute conic we will show that it's possible to obtain a set of self-calibration equations according to the intrinsic camera parameters. These equations are non-linear which required formulating of a non-linear cost function according to the intrinsic camera parameters which its minimization permits us to estimate these parameters in each image. The obtained experimental results on the synthetic and real images show the robustness and the reliability of our method.