Nonlinear Self-Calibration for Structure From Motion (SFM) Techniques

A nonlinear self-calibration technique that may, for example, be used to convert a projective reconstruction to metric (Euclidian) reconstruction. The self-calibration technique may use a nonlinear least squares optimization technique to infer the parameters. N input images and a projective reconstruction for each image may be obtained. At least two sets of initial values may be determined for an equation to be optimized according to the nonlinear optimization technique to generate a metric reconstruction for the set of N images. The equation may then be optimized using each set of initial values according to the nonlinear optimization technique. The result with a smaller cost may be selected. The metric reconstruction is output. The output may include, but is not limited to, focal length, rotation, and translation values for the N images.