Linear self-calibration technique based on active vision

A linear self-calibration technique based on orthogonal motion is brought forth. When the camera model is one that is complete perspective, the five intrinsic parameters of the camera can be calculated linearly by controlling the camera to undergo a pure axial motion and three two-orthogonal motions. When the camera skew factor is zero, only two two-orthogonal motions are needed to calculate the camera intrinsic parameters linearly. Simulative and real experimental results show that the intrinsic parameters can be calculated precisely by applying this technique.