Camera Calibration and the Search for Infinity

Main difficulty: affine reconstruction, i.e. locating the plane at infinity ( 1 ) in the projective frame (an inherently non-linear problem). Once we have located 1 the remainder of the problem is equivalent to the self-calibration of a rotating camera with varying intrinsics. Recently a couple of methods to achieve this goal have emerged, including a fast linear algorithm (de Agapito et al, CVPR ’99).