A new approach to solving Kruppa equations for camera self-calibration

We propose an approach to solving the Kruppa equations for camera self-calibration. Traditionally, the unknown scale factors in the Kruppa equations are eliminated first, leading to a set of nonlinear constraints. Instead, we determine the scale factors by a Levenberg-Marquardt optimization or genetic optimization technique first. Then, the camera´s intrinsic parameters are derived from the resulting linear constraints. Extensive simulations as well as experiments with real images verify that the above technique is both accurate and robust.