Metric calibration of a stereo rig

Conference item

Describes a method to determine affine and metric calibration for a stereo rig. The method does not involve the use of calibration objects or special motions, but simply a single general motion of the rig with fixed parameters (i.e. camera parameters and relative orientation of the camera pair). The novel aspects of this work are: first, relating the distinguished objects of Euclidean geometry to fixed entities of a Euclidean transformation matrix; second, showing that these fixed entities are accessible from the conjugate Euclidean transformation arising from the projective transformation of the structure under a motion of the fixed stereo rig; and third, a robust and automatic implementation of the method. Results are included of affine and metric calibration and structure recovery using images of real scenes.

Authors: Zisserman, A; Beardsley, PA; Reid, ID

• Publication status: Published
• Peer review status: Peer reviewed
• Publisher: IEEE
• Host title: Proceedings IEEE Workshop on Representation of Visual Scenes (In Conjunction with ICCV'95)
• Pages: 93-100
• Publication date: 2002-08-06
• Event title: IEEE Workshop on Representation of Visual Scenes (in conjunction with ICCV 1995)
• Event location: Cambridge, MA, USA
• Event start date: 1995-06-24
• Event end date: 1995-06-24
• DOI: 10.1109/wvrs.1995.476857
• ISBN: 081867122X
• Language: English
• Keywords: cameras; robustness; equations; H infinity control; geometry; layout; polynomials; extraterrestrial measurements; mechatronics and robotics; calibration; robots