A ne Calibration from Moving Objects

This paper introduces a novel linear algorithm for determining the aane calibration between two camera views of a dynamic scene. The aane calibration is computed directly from the fundamental matrices associated with various moving objects in the scene, as well as from the fundamental matrix for the static background if the cameras are at diierent locations. A minimum of two fundamental matrices are required, but any number of additional fundamental matrices can be incorporated into the linear system to improve the stability of the computation. The technique is demonstrated on both real and synthetic data.