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Issue No. 10 - October (2000 vol. 22)
ISSN: 0162-8828
pp: 1199-1204
<p><b>Abstract</b>—We consider the self-calibration problem for perspective cameras and especially the classical Kruppa equation approach. It is known that for several common types of camera motion, self-calibration is degenerate, which manifests itself through the existence of ambiguous solutions. In a previous paper, we have studied these <it>critical motion sequences</it> and have revealed their importance for practical applications. Here, we reveal a type of camera motion that is not critical for the generic self-calibration problem, but for which the Kruppa equation approach fails. This is the case if the optical centers of all cameras lie on a sphere and if the optical axes pass through the sphere's center, a very natural situation for 3D object modeling from images. Results of simulated experiments demonstrate the instability of numerical self-calibration algorithms in near-degenerate configurations.</p>
Self-calibration, calibration, euclidean reconstruction, Kruppa equations, critical motions, degeneracy, absolute conic.

P. Sturm, "A Case Against Kruppa's Equations for Camera Self-Calibration," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 22, no. , pp. 1199-1204, 2000.
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