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Error Analysis of Pure Rotation-Based Self-Calibration
February 2004 (vol. 26 no. 2)
pp. 275-280
Abstract—Self-calibration using pure rotation is a well-known technique and has been shown to be a reliable means for recovering intrinsic camera parameters. However, in practice, it is virtually impossible to ensure that the camera motion for this type of self-calibration is a pure rotation. In this paper, we present an error analysis of recovered intrinsic camera parameters due to the presence of translation. We derived closed-form error expressions for a single pair of images with nondegenerate motion; for multiple rotations for which there are no closed-form solutions, analysis was done through repeated experiments. Among others, we show that translation-independent solutions do exist under certain practical conditions. Our analysis can be used to help choose the least error-prone approach (if multiple approaches exist) for a given set of conditions.
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Index Terms:
Self-calibration, rotating cameras, error analysis.
Citation:
Lei Wang, Sing Bing Kang, Heung-Yeung Shum, Guangyou Xu, "Error Analysis of Pure Rotation-Based Self-Calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 26, no. 2, pp. 275-280, Jan. 2004, doi:10.1109/TPAMI.2004.1262199
