Stereo Calibration from Rigid Motions

Self-Calibration and Euclidean Reconstruction Using Motions of a Stereo Rig

This paper describes a method to upgrade projective reconstruction to afine and to metric reconstructions using rigid general motions of a stereo rig. We make clear the algebraic relationships between projective reconstruction, the plane at infinity (ufine reconstruction), camera calibration, and metric reconstruction. We show that all the computations can be carried out using standard linear r...

Closed-Form Solutions for the Euclidean Calibration of a Stereo Rig

In this paper we describe a method for estimating the internal parameters of the left and right cameras associated with a stereo image pair. The stereo pair has known epipolar geometry and therefore 3-D projective reconstruction of pairs of matched image points is available. The stereo pair is allowed to move and hence there is a collineation relating the two projective reconstructions computed...

Self-calibration of a stereo rig from unknown camera motions and point correspondences

Local Motion Estimation from Stereo Image Sequences

This paper proposes a method for representing local temporal deformations of a 3D flexible surface in an orthogonal space from a sequence of stereo images. The approach uses a disparity space as the main space in order to represent all the 3D information. The local motions are estimated removing the rigid motions from the global motion in the disparity space. A robust algorithm based on the RAN...

A Globally Optimal Approach for 3D Elastic Motion Estimation from Stereo Sequences

Dense and markerless elastic 3D motion estimation based on stereo sequences is a challenge in computer vision. Solutions based on scene flow and 3D registration are mostly restricted to simple non-rigid motions, and suffer from the error accumulation. To address this problem, this paper proposes a globally optimal approach to non-rigid motion estimation which simultaneously recovers the 3D surf...