Self-calibration technique based on Kruppa equations obtaining initial solution by translational motion

The key problem in self-calibration based on Kruppa equations is lack of robustness.In this paper,a two-step camera self-calibration technique is proposed.Firstly,the Kruppa equations are simplified and the target function is defined.Secondly,an initial solution is obtained by three linear independent translational motion of the camera.Then the initial solution is refined by optimizing the nonlinear target function.Extensive simulations as well as experiments with real images show the new technique can substantially improve the robustness aspect and increase the calibration accuracy.