As shown by Theorem 5, for a completely uncalibrated image sequence, the reconstruction is only determined up to a projective transformation. While it is true that the full calibration is often not available, some knowledge of the camera intrinsics is usually available. This knowledge can be used to recover the structure and motion up to a similarity transformation. This type of approach is called autocalibration or self-calibration in the literature. A first class of algorithms assumes constant, but unknown, intrinsic camera parameters [16, 21, 44, 28, 65]. Another class of algorithms assumes some intrinsic camera parameters to be known, while others can vary [47, 29]. Specific algorithms have also been proposed for restricted ...
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