This paper gives a practical algorithm for the self-calibration of a camera from several views. The method involves non-iterative methods for finding an initial calibration for the camera, followed by least-squares iteration to an optimum solution. At the same time, a scaled Euclidean reconstruction of the scene appearing in the images is computed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Hartley (1994) studied this question.