Stereo Rig Geometry Determination by Fundamental Matrix Decomposition

Computer vision plays an important role in many automatic applications, such as surface measurement, industrial inspection, reverse engineering and even mobile robot navigation. All these applications might be solved by means of a stereovision system formed by at least two cameras if the geometry of such stereo rig is previously known. So, camera calibration is based on computing the intrinsic parameters, which determine the internal geometry and optics of the camera, and the extrinsic parameters, which determine the camera position and orientation with respect to a world coordinate system. In this paper, we present experimental results of computing the camera parameters without the knowledge of 3D information, which leads to the so-called self-calibration problem.