Minimal Solvers for Relative Pose with a Single Unknown Radial Distortion
Författare
Summary, in English
pose between two cameras in the presence of radial distortion.
Specifically, we consider minimal problems where
one of the cameras has no or known radial distortion. There
are three useful cases for this setup with a single unknown
distortion: (i) fundamental matrix estimation where the two
cameras are uncalibrated, (ii) essential matrix estimation
for a partially calibrated camera pair, (iii) essential matrix
estimation for one calibrated camera and one camera
with unknown focal length. We study the parameterization
of these three problems and derive fast polynomial solvers
based on Gr¨obner basis methods. We demonstrate the numerical
stability of the solvers on synthetic data. The minimal
solvers have also been applied to real imagery with
convincing results.
Avdelning/ar
- Matematik LTH
- Mathematical Imaging Group
- ELLIIT: the Linköping-Lund initiative on IT and mobile communication
Publiceringsår
2014
Språk
Engelska
Sidor
33-40
Publikation/Tidskrift/Serie
Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Mathematics
Conference name
IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2014), 2014
Conference date
2014-06-24 - 2014-06-27
Conference place
Columbus, Ohio, United States
Status
Published
Forskningsgrupp
- Mathematical Imaging Group
ISBN/ISSN/Övrigt
- ISSN: 1063-6919