International Journal of Computer Vision

, Volume 32, Issue 1, pp 7–25

Self-Calibration and Metric Reconstruction Inspite of Varying and Unknown Intrinsic Camera Parameters


  • Marc Pollefeys
    • ESAT-PSI, K.U. Leuven
  • Reinhard Koch
    • ESAT-PSI, K.U. Leuven
  • Luc Van Gool
    • ESAT-PSI, K.U. Leuven

DOI: 10.1023/A:1008109111715

Cite this article as:
Pollefeys, M., Koch, R. & Gool, L.V. International Journal of Computer Vision (1999) 32: 7. doi:10.1023/A:1008109111715


In this paper the theoretical and practical feasibility of self-calibration in the presence of varying intrinsic camera parameters is under investigation. The paper's main contribution is to propose a self-calibration method which efficiently deals with all kinds of constraints on the intrinsic camera parameters. Within this framework a practical method is proposed which can retrieve metric reconstruction from image sequences obtained with uncalibrated zooming/focusing cameras. The feasibility of the approach is illustrated on real and synthetic examples. Besides this a theoretical proof is given which shows that the absence of skew in the image plane is sufficient to allow for self-calibration. A counting argument is developed which—depending on the set of constraints—gives the minimum sequence length for self-calibration and a method to detect critical motion sequences is proposed.

self-calibrationmetric 3D reconstructionuncalibratedimage sequencesvarying camera parameters

Copyright information

© Kluwer Academic Publishers 1999