An Improved Self-calibration Method for Active Stereo Camera

Camera calibration is an important prerequisite for retrieving 3D information of scene. Considered with peculiar configuration of stereo camera, some reasonable assumptions are introduced to obtain simplified stereo camera model which assumes that principle points locating in the image center, camera axes perpendicular with camera plane, focal length of stereo camera remaining constant during movement. Based on those constrains, a self-calibration method for moving stereo camera is represented in this paper, which determines camera parameters through calculating fundamental matrix corresponding to successive motion sequence. Experimental results on dynamic stereo camera shows that this self-calibration approach has good real-time performance and high resolution when vergence angel and tilt angel is confined to certain range during movement.