Outline of Our New Technique

*Pointing the cameras towards the calibration apparatus:
Match the points of reference

*Pointing the cameras towards the environment:
This gives a set of matched points from the perceived environment.

*Estimating the epipolar geometry
by using the two sets of matches (reference + environment)

*Reconstructing in a projective basis the points of reference

*Estimating the projective distortion
This allows us to go back to the Euclidean space. It is possible because the 3D Euclidean coordinates of the reference points are known.
This yields a metric/strong calibration of the stereo.

Author: Zhengyou Zhang
Email: zzhang@sophia.inria.fr
Last modified: Wed Oct 23 13:46:39 MET DST