Title :
Self-calibration of a stereo-camera by pure translational motion
Author :
Jang, Jeong-Hun ; Hong, Ka-Sang
Author_Institution :
Dept. of Electr. Eng., Pohang Inst. of Sci. & Technol., South Korea
Abstract :
This paper describes a method for calibrating a stereo-camera using its pure translational motion. The left and right cameras translate in several directions simultaneously. For each camera and each translation, an image sequence is obtained, feature points being extracted and tracked. An epipole is estimated for each image sequence and calibration is carried out using the relation between known translations and estimated epipoles. After finding calibration and rotation matrices of each camera, 3D reconstruction of feature points is performed. Reconstructed points are used to find translational relation between both cameras. The method was tested with real image data, and experimental results show that it is applicable in practice
Keywords :
CCD image sensors; calibration; cameras; feature extraction; image reconstruction; image sequences; motion estimation; robot vision; stereo image processing; 3D reconstruction; CCD cameras; calibration matrix; epipole; experimental results; feature point extraction; feature point tracking; image sequence; real image data; reconstructed points; robot vision; rotation matrix; self-calibration; stereo-camera; translational motion; Calibration; Cameras; Feature extraction; Image reconstruction; Image sequences; Motion estimation; Robot vision systems; Robotics and automation; Stereo vision; Testing;
Conference_Titel :
Image Processing, 1996. Proceedings., International Conference on
Conference_Location :
Lausanne
Print_ISBN :
0-7803-3259-8
DOI :
10.1109/ICIP.1996.560814
