Algebraic derivation of the Kruppa equations and a new algorithm for self-calibration of cameras

An algebraic derivation of the Kruppa equations is presented. This derivation is much simpler and thus easier to understand than the conventional derivation based on projective geometry. Using the newly derived Kruppa equations, we further propose a new algorithm for determining a camera's intrinsic parameters. Experimental results and discussions are given for both synthetic and real images. (C) 1999 Optical Society of America [S0740-3232(99)02310-8].