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The epipolar direction field α α L At each point P L in the left image, we construct a line l L tangent to the epipolar line and parametrize it by λ L with λ L = 0 at P L .

The epipolar direction field α α L At each point P L in the left image, we construct a line l L tangent to the epipolar line and parametrize it by λ L with λ L = 0 at P L .

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Figure 1: The self-calibration system
Figure 2: The epipolar direction field α α L At each point P L in the...
Self-calibration of Stereo Cameras with a Probabilistic Camera Model including Lens Distortion
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  • Feb 1970
In this paper we present a new method for the selfcalibration of a stereo camera pair including lens distortion. A single stereo image pair is used without calibration object or prior knowledge of the scene. The method is based on the estimation of a stereo image correspondence field followed by extraction of the calibration parameters. The corresp...
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Context 1
... scalar field 0 ≤ α L < π models the direction of the epipolar lines in the left image, defined as the angle between the x L axis and the line tangent to the epipolar curve. Figure 2 shows the situation in which there is no lens distortion and the epipolar curves are straight lines. For a distortionless left camera the following holds: ...
Context 2
... we project the line l L onto the right image plane using the correspondence field m. As depicted in Figure 2, the uniform parametrization by λ L is not preserved by the projection. It is affected by both calibration parameters and disparity, which is a function of the particular 3-D scene. ...

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