Camera Autocalibration and the Calibration Pencil

Abstract

We study the geometric object given by the set of lines incident with the absolute conic. We see that this object is given by a pencil of quadrics of P5, which is characterized. We describe some of its most relevant properties for the camera autocalibration problem. Finally, we illustrate the applicabil- ity of the theory proposing a linear algorithm for the metric upgrading of a projective calibration of a set of ten or more cameras with varying parameters and known skew and aspect ratio.