Fast and accurate self-calibration

We describe new techniques for self-calibration and for recovering the motion from a projective reconstruction when the calibration is known. We show that our approach deals with the ambiguities in self-calibration produced by special motions. We extend our techniques to deal with varying calibration parameters. In passing, we prove convergence for the iterative projective-reconstruction algorithm of (Sturm and Triggs, 1996) and (Berthilsson et al., 1997)