Direct methods for self-calibration of a moving stereo head

  • M. J. Brooks
  • L. de Agapito
  • D. Q. Huynh
  • L. Baumela
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1065)


We consider the self-calibration problem in the special context of a stereo head, where the two cameras are arranged on a lateral rig with coplanar optical axes, each camera being free to vary its angle of vergence. Under various constraints, we derive explicit forms for the epipolar equation, and show that a static stereo head constitutes a degenerate camera configuration for carrying out self-calibration in the sense of Hartley [4]. The situation is retrieved by consideration of a special kind of motion of the stereo head in which the baseline remains confined to a plane. New closed-form solutions for self-calibration are thereby obtained, inspired by an earlier discrete motion analysis of Zhang et al. [11]. Key factors in our approach are the development of explicit, analytical forms of the fundamental matrix, and the use of the vergence angles in the parameterisation of the problem.


Self-calibration stereo head degeneracy epipolar equation fundamental matrix ego-motion 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1996

Authors and Affiliations

  • M. J. Brooks
    • 1
    • 3
  • L. de Agapito
    • 2
  • D. Q. Huynh
    • 1
  • L. Baumela
    • 3
  1. 1.Centre for Sensor Signal and Information ProcessingSignal Processing Research InstituteAdelaideAustralia
  2. 2.Instituto de Automática IndustrialCSIC, La PovedaMadridSpain
  3. 3.Departamento de Inteligencia Artificial, Facultad de InformáticaUniversidad Politécnica de MadridBoadilla del MonteSpain

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