Calibrating a Binocular Stereothrough Projective Reconstruc - Tion Using Both a Calibration Ob - Ject and the Environment

We present a novel technique for calibrating a binocular stereo rig by using the information from both scenes and classical calibration objects. The calibration provided by the calssical methods is only valid for the space near the position of the calibration object. Our technique takes the advantage of the rigidity of the geometry between two cameras. The idea is to rst estimate precisely the epipolar geometry which is valid for a wide range in space from all available matches. This allows to conduct a projective reconstruction. Using the a priori knowledge of the calibration object, we are eventually able to calibrate the stereo rig in a Euclidean space. The proposed technique has been tested with a number of real images, and signiicant improvement has been observed.