**Sequence to
Sequence Self Calibration**

*Lior Wolf and Assaf Zomet*

*School of Computer Science and Engineering**, *

*The Hebrew University**, *

*Jerusalem 91904, Israel*

We present a linear method for self-calibration of a moving rig when
no correspondences are available between the cameras. Such a scenario occurs,
for example, when the cameras have different viewing angles, different
zoom factors or different spectral ranges.
It is assumed that during the motion of the rig, the relative viewing
angle between the cameras remains fixed and is known. Except for the fixed
relative viewing angle, any of the internal parameters and any of the other
external parameters of the cameras may vary freely.
The calibration is done by linearly computing multilinear invariants,
expressing the relations between the optical axes of the cameras during
the motion. A solution is then extracted from these invariants. Given the
affine calibration, the metric calibration is known to be achieved
linearly (e.g. by assuming zero skew).
Thus an automatic solution is presented for self calibration of a class
of moving rigs with varying internal parameters. This solution is achieved
without using any correspondences between the cameras, and requires only
solving linear equations.