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We present a method for self-calibration of a camera which is free to rotate and change its intrinsic parameters, but which cannot translate. The method is based on the so-called infinite homography constraint which leads to a non-linear minimisation routine to find the unknown camera intrinsics over an extended sequence of images. We give experimental results using real image sequences for which ground truth data was available. 1
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Agapito et al. (1998) studied this question.