Self-Calibration and Metric Reconstruction Inspite of Varying and Unknown Intrinsic Camera Parameters

In this paper the theoretical and practical feasibility of self-calibration in the presence of varying intrinsic camera parameters is under investigation. The paper's main contribution is to propose a self-calibration method which efficiently deals with all kinds of constraints on the intrinsic camera parameters. Within this framework a practical method is proposed which can retrieve metric reconstruction from image sequences obtained with uncalibrated zooming/focusing cameras. The feasibility of the approach is illustrated on real and synthetic examples. Besides this a theoretical proof is given which shows that the absence of skew in the image plane is sufficient to allow for self-calibration. A counting argument is developed which—depending on the set of constraints—gives the minimum sequence length for self-calibration and a method to detect critical motion sequences is proposed.