Abstract:
In this paper, we introduce a new self-calibration
method for a stereo rig using general rigid
motions. Unlike the existing methods, our method
does not involve any stereo correspondence. Rather the
method requires the computation of camera motion between
pairs of monocular images. We show that the
computation of the stereo geometry, i.e. the rotation
and the translation between the two cameras can be carried
out using standard linear algebra tools. We provide
a stability study for the method in the presence of noise.
Synthetic and real experiments demonstrate the feasibility
and robustness of the proposed method. Moreover,
the developed method can be used to solve the stereo correspondence
problem as well as the 3D shape of the observed scenes
using a cooperative stereo-motion framework.