Self-calibration
	• Theoretically formulated by [Faugeras ’92] • 2 basic approaches – Stratified: recover – Direct: recover                                 [Triggs’97] • Constraints: – Camera internal constraints – Constant parameters  [Hartley’94][ Mohr’93] – Known skew and aspect ratio  [Hayden&Åström’98][Pollefeys’98] – Scene constraints (angles, ratios of length) • Choice of H:    Knowing camera K and