Self Calibration

This section is based on an unpublished paper written by Richard Hartley in 1995. It derives the Kruppa equations which allow a camera's internal parameters to be derived from matches between several views taken with the same camera at different positions and orientations. From there, Euclidean reconstruction of the scene up to an overall scale factor is possible without further prior information.

First, we present the geometric link between the absolute conic and camera's interior calibration. Then, we motivate and derive the Kruppa equations which provide two constraints on the calibration for each pair of views observed by the camera from different locations.