A survey of camera self-calibration

The paper surveys the developments of the last 10 years in the area of camera self-calibration. Self-calibration is an attempt to calibrate camera by finding intrinsic parameters that are consistent with the underlying projective geometry of a sequence of images. In order to solve this problem, the camera intrinsic constraints have been used separately and in conjunction with camera motion constraints or scene constraints. Most self-calibration algorithms are concerned with unknown but constant intrinsic camera parameters. Recently, camera self-calibration in the case of varying intrinsic camera parameters was also studied. We present the basic theories behind the different self-calibration techniques and discuss the ideas behind most of the self-calibration algorithms.