Camera self-calibration using the geometric structure in real scenes

The geometric constraint, which is called corner structure, is studied. Firstly, the corner structure in one image is introduced to calculate the initial solutions of the intrinsic and extrinsic parameters of the camera. Then the solutions are optimized via minimizing the differences between the observed points and the reprojections under the geometric constraints in two images. Because only one image is used when the initial solutions are computed, the critical motion sequences can be avoided, and then the degeneracies in camera self-calibration can be avoided. The precisions of the calculated parameters are improved because the geometric structures in two images are used in optimization. The experimental results demonstrate that our algorithm is robust.