Reconstruction of three-dimensional scenes from a sequence of images of which only one is calibrated

In this work, we propose a method for reconstructing three-dimensional scenes from a sequence of images of which only one image is calibrated. The system is initialized by a calibrated image. The projection matrices of the other images in the sequence are estimated, from the first projection matrix (obtained by the calibration of the camera) and the matching between the images, by solving a system of linear equations. The intrinsic and extrinsic parameters of the camera used are estimated from the Cholesky decomposition of the projection matrix. Finally, obtaining the 3D scene is based on the Euclidean reconstruction of the detected and matched control points in the pairs of images.