## Globally Optimal Algorithms for Stratified Autocalibration

This page contains code/data/results for a stratified autocalibration
method that, starting from a projective reconstruction
__Step 1 (affine upgrade)__: performs an affine reconstruction by
estimating the plane at infinity
__Step 2 (metric upgrade)__: performs a metric reconstruction
by estimating the internal parameters of the camera.

The main features of the algorithm are:
- Globally optimal solution to the modulus constraints for
estimating the plane at infinity.
- Globally optimal solution to the infinite homography relation for
estimating the dual image of absolute conic.
- Incorporates a theoretically correct initial region for plane at
infinity search using chirality constraints.
- Enforces non-linear constraints such as positive
semidefiniteness of the dual image of absolute conic.

#### Code:

An early version can be found [here]. Newer version coming soon!

#### Reference:

M.K. Chandraker, S. Agarwal, D.J. Kriegman and Serge Belongie

**Globally Optimal Affine and Metric Upgrades in Stratified Autocalibration** [PDF]

ICCV 2007, Rio de Janeiro, Brazil.

*Last updated October 29, 2007.*