Self-Calibration of a Stereo Rig from Unknown Camera Motions and Point Correspondences

The problem of calibrating a stereo rig is extremely important for practical applications. Existing work is based on the use of a calibration pattern whose 3D model is a priori known. We show theoretically and with experiments on real images, how it is possible to completely calibrate a stereo rig, that is to determine each camera’s intrinsic parameters and the relative displacement between the two or three cameras, using only point matches obtained during unknown motions, without any a priori knowledge of the scenes.