Calibration of image sequences for model visualisation

The object of this paper is to find a quick and accurate method for computing the projection matrices of an image sequence, so that the error is distributed evenly along the sequence. It assumes that a set of correspondences between points in the images is known, and that these points represent rigid points in the world. This paper extends the algebraic minimisation approach developed by Hartley so that it can be used for long image sequences. This is achieved by initially computing a trifocal tensor using the three most extreme views. The intermediate views are then computed linearly using the trifocal tensor. An iterative algorithm as presented which perturbs the twelve entries of one camera matrix so that the algebraic error along the whole sequence is minimised