Abstract

In this paper, a Bayesian self-calibration approach is pro- posed using sequential importance sampling (SIS). Given a set of feature correspondences tracked through an image sequence, the joint posterior distributions of both camera extrinsic and intrinsic parameters as well as the scene structure are approximated by a set of samples and their corresponding weights. The critical motion sequences are explicitly con- sidered in the design of the algorithm. The probability of the existence of the critical motion sequence is inferred from the sample and weight set obtained from the SIS procedure. No initial guess for the calibration pa- rameters is required. The proposed approach has been extensively tested on both synthetic and real image sequences and satisfactory performance has been observed.