Self-recalibration of the camera pose via homography

In this paper, we propose a robust method to calculating camera pose via homography. We assuming the intrinsic parameters of the camera are known from initial calibration, and then we show that its camera pose parameters, in terms of translation vector and rotation matrix, can be determined from Homographic matrix. Our method is able to dynamic calibrating of the camera pose and arbitrary motion is allowed for the system. Results show robustness of the proposed method to be improved over those of the standard method.