AUTHORS: Maria Lorena Bergamini, Francisco Ansaldo, Glen Bright, José Francisco Zelasco

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ABSTRACT: The fundamental matrix, based on the co-planarity condition, even though it is very interesting for theoretical issues, it does not allow finding the camera calibration parameters, and the base and rotation parameters altogether. In this work we present an easy calibration method for calculating the internal parameters: pixel dimensions and image center pixel coordinates. We show that the method is slightly easier if the camera rotation angles, in relation with the general referential system, are small. The accuracy of the four calibration parameters are evaluated by simulations. In addition, a method to improve the accuracy is explained. When the calibration parameters are known, the fundamental matrix can be reduced to the essential matrix. In order to find the relative orientation parameters in stereo vision, there is also presented a new method to extract the base and the camera rotation by means of the essential matrix. The proposed method is simple to implement. We also include a simpler method for the relative orientation when the relative rotation angles between the two cameras are small.

KEYWORDS: Fundamental matrix, essential matrix, camera calibration

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