Re-Projective Calibration of a Stereo Camera System

T. Hanning (Germany)


stereo camera calibration, re-projection, epipolar constraint


The cameras of a stereo setup act not independently since they look at the same scene from different positions. This connection of the images of a stereo camera system is usu ally described by the fundamental matrix. But this con cept depends on the projective nature of the pinhole camera model. Any distortion of the cameras is usually not men tioned in the theoretic framework. In optical measurement problems these distortions can not be neglected. We define a re-projective approach to the stereo camera calibration problem, which is constrained by the simple fact that two viewing rays belonging to the same object point must inter sect. We present a calibration algorithm which determines the intrinsic and extrinsic camera parameters including the distortion parameters.

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