The Calibration Problem for Stereoscopic Vision
The problem of calibrating a stereo system is extremely important in practical applications. We describe in this paper our approach for coming up with an efficient and accurate solution. We first review the pinhole camera model that is used and analyze its relationship with respect to the internal camera parameters and its position in space. We then study its behavior with respect to changes of coordinate systems.
This yields a constraint which is used in the meansquare solution of the calibration problem that we propose. Since an estimation of the uncertainty is also important, we suggest another solution based on Kaiman filtering.
We show a number of experimental results and compare them with those obtained by Tsai . We finish with two practical applications of our calibration technique: reconstructing 3D points and computing the epipolar geometry of a stereo system.
KeywordsKalman Filter Intrinsic Parameter Stereo Pair Epipolar Line Distortion Correction
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