A Study on the Relative Pose Problem in an Active Vision System with varying Focal Lengths

In this work, the relative pose problem is addressed in our structured light system. Assuming that there is an arbitrary planar structure in the scene, we suggest a method for estimating the rotation matrix and translation vector between the camera and the projector. In this system, the varying focal lengths of the camera are allowed and can be obtained without any further assumptions. Finally, we give some experimental results to validate this method.