A multistage camera self-calibration algorithm

We present a new camera self-calibration algorithm that uses a low-complexity multistage approach. We derive a polynomial optimization function with respect to the camera intrinsic parameters, based on the equal singular value property of the essential matrix. In terms of the stability analysis of the intrinsic parameters, we propose a multistage procedure to refine the estimation. Experimental results with both synthetic and real images show the accuracy and robustness of our method.