A New Multiscale Geometric Method for Binocular Weak Calibration
In practice, the stereo system is usually constructed by two fixed cameras on top of mobile vehicle view the scene from a left and right point of views. Due to lens distortion and camera displacements, both cameras need to be calibrated. The internal camera parameters and the orientation of the cameras to each other are assumed to be settled. For the special application of mobile vehicle, a new multiscale geometric method for binocular weak calibration is proposed. The aim of multiscale geometric analysis is to find a kind of optimal representation of such type of image in the sense of nonlinear approximation. In this paper, a novel explanation is given for contourlet transform and detecting corners of images by the multiscale geometric method. Finally, the eight-point algorithm of Hartley has been used to determine the fundamental matrix. It is important that the fundamental matrix predigests the following problems, such as, the intrinsic parameters matrix, the motion parameters, and structure recovery from uncalibrated stereo rig. Experimental results show the efficiency of this algorithm.