Self-Calibration of Cameras with Euclidean
Image Plane in Case of Two Views and Known
Relative Rotation Angle
Abstract. The internal calibration of a pinhole camera is given by five
parameters that are combined into an upper-triangular 3 × 3 calibration
matrix. If the skew parameter is zero and the aspect ratio is equal to one,
then the camera is said to have Euclidean image plane. In this paper,
we propose a non-iterative self-calibration algorithm for a camera with
Euclidean image plane in case the remaining three internal parameters
— the focal length and the principal point coordinates — are fixed but
unknown. The algorithm requires a set of N ? 7 point correspondences
in two views and also the measured relative rotation angle between the
views. We show that the problem generically has six solutions (including
complex ones).
The algorithm has been implemented and tested both on synthetic data
and on publicly available real dataset. The experiments demonstrate that
the method is correct, numerically stable and robust.
Keywords: Multiview geometry · Self-calibration · Essential matrix ·
Euclidean image plane · Relative rotation angle · Gr¨obner basis