Omni-rig: Linear Self-recalibration of a Rig with Varying Internal and External Parameters.
Assaf Zomet Lior Wolf and Amnon Shashua
School of Computer Science and Engineering
The Hebrew University,
Jerusalem 91904, Israel
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
We assume that after calibration the cameras may change critical elements of
their configuration, including internal parameters and centers
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.