Self-Calibration of a Binocular Stereo Rig with Varying Intrinsic and Extrinsic Parameters

Abstract

Self-calibration of stereo rig is essential to many computer vision applications. In this paper, a new self-calibration method is proposed for a binocular stereo rig undergoing a single motion with varying intrinsic and extrinsic parameters. Firstly, we build up a stereo rig model based on the basic platform to describe the transformation of the stereo rig during the motion. Secondly, the characteristics of singular values of the essential matrix are used to estimate the intrinsic parameters of camera. Finally, analyzing the transformation relation between different views, the relative position of cameras and motion of the stereo rig are estimated. Experimental results for both synthetic data and real images are provided to show the performance of the proposed method.