Omni-rig: linear self-recalibration of a rig with varying internal and external parameters

We describe the principles of building a moving vision platform (a Rig) that once calibrated can thereon self-adjust to changes in its internal configuration and maintain an Euclidean representation of the 3D world using only projective measurements. We term this calibration paradigm "Omni-Rig". We assume that after calibration the cameras may change critical elements of their configuration, including internal parameters and centers of projection. Theoretically we show that knowing only the rotations between a set of cameras is sufficient for Euclidean calibration even with varying internal parameters and unknown translations. No other information of the world is required.