Self-calibration based on a circle of the cameras having the varying intrinsic parameters

The problem examined in this article is a cameras self-calibration having the varying intrinsic parameters with an unknown planar scene. This method is based on the use of two points through which passes a circle. The planar scene considered permits to calculate the projection matrices of any two points of the scene in used images. These matrices can minimize a non-linear cost function to optimize the initial intrinsic parameters.