Self-calibration algorithm of rotation cameras

We overcome the shortcomings of Hartley´s self-salibration algorithm, and obtain the following major results: 1) a rotation camera about coordinate axis, the formula of camera intrinsic parameters and practical algorithm are obtained; and 2) a rotation camera about unknown axis. A family of camera intrinsic parameter matrix, consisting with 2D projective transformation, can be obtained. It was proved that the local camera intrinsic parameter matrix can be uniquely determined through the method based on two different unknown rotational axes. Meanwhile, its practical algorithm is provided. Tests with synthetic data and real images indicate that the algorithms presented are robust and practical