Towards robust metric reconstruction via a dynamic uncalibrated stereo head

We consider the problem of metrically reconstructing a scene viewed by a moving stereo head. The head comprises two cameras with coplanar optical axes arranged on a lateral rig, each camera being free to vary its angle of vergence. Under various constraints, we derive novel explicit forms for the epipolar equation, and show that a static stereo head constitutes a degenerate camera con guration for carrying out self-calibration. The situation is retrieved by consideration of a stereo head undergoing ground plane motion, and new closed-form solutions for self-calibration are derived. An error analysis reveals that reconstruction is adversely a ected by inward-facing camera vergence angles that are similar in value, and by a principal point location whose horizontal component is in error. It is also shown that the adoption of domain-speci c robust techniques for computation of the fundamental matrix can signi cantlyimprove the qualityof scene reconstruction. Experimentsconducted with dyn...

• Type: Journal
• Year: 1998
• Where: IVC
• Authors: Michael J. Brooks, Lourdes de Agapito, D. Q. Huynh, Luis Baumela
• Keywords: Camera, IVC 1998, Static Stereo Head, Stereo Head