Camera autocalibration and the calibration pencil
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 P-5, which is characterized. We describe some of its most relevant properties for the camera autocalibration problem. Finally, we illustrate the applicability 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.
camera autocalibration line geometry