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I have a series of about 50 images, each separated by a small rotation and taken from the same camera. The images are feature-dense, and I can calculate a homography from image-to-image easily.

My question is, is there any way to determine the rotation matrix and/or intrinsic camera calibration parameters given just these images?

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If the images are related by pure rotation, then the homography would give you the rotation matrix. If the rotation is in-plane, then you would not be able to compute the intrinsics.

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  • $\begingroup$ Yeah, I was just doing the math and got that for a pure rotation, the homography would be equal to KRK^-1. So that solves that problem. What do you mean when you say the rotation is "in-plane"? $\endgroup$
    – Joe
    Mar 9, 2015 at 16:11
  • $\begingroup$ In-plane means rotation about the camera's optical axis, aka roll. Out-of-plane rotation involved pitch and yaw. $\endgroup$
    – Dima
    Mar 9, 2015 at 16:16
  • $\begingroup$ Ah, got it. All of the rotation is pitch and yaw. Can you give any suggestion how I would got about determining the intrinsic parameters? $\endgroup$
    – Joe
    Mar 9, 2015 at 16:49

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