Self-calibration and metric reconstruction in spite of varying and unknown internal camera parameters

In this paper the feasibility of self-calibration in the presence of varying internal camera parameters is under investigation. A self-calibration method is presented which efficiently deals with all kinds of constraints on the internal camera parameters. Within this framework a practical method is proposed which can retrieve metric reconstruction from image sequences obtained with uncalibrated zooming/focusing cameras. The feasibility of the approach is illustrated on real and synthetic examples.