Identification of relative position and orientation of two cameras from motion and shape parameters of moving rigid body

In this paper we obtain the calibration parameters between a pair of cameras from motion and shape cues obtained from a moving rigid body in space. We consider a body moving rigidly in space and assume that they are observed using a pair of cameras. We assume furthermore that the relative positions of the two cameras are unknown i.e. we are in an uncalibrated stereo situation. It is then proved that, under certain generic conditions, relative orientation can be determined uniquely, whereas the relative position can be recovered only up to a one parameter ambiguity. The general problem is to be able to estimate the motion and shape parameters from the environment inspite of the lack of calibration between the two cameras