Fast and Robust Numerical Solutions to Minimal Problems for Cameras with Radial Distortion
Byröd, Martin LU ; Kukelova, Zuzana ; Josephson, Klas LU ; Pajdla, Tomas and Åström, Karl LU
(2008)
IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPR Workshops), 2008
p.2586-2593
- Abstract
- A number of minimal problems of structure from motion for
cameras with radial distortion have recently been studied and solved
in some cases. These problems are known to be numerically very
challenging and in several cases there exist no known practical
algorithm yielding solutions in floating point arithmetic. We make
some crucial observations concerning the floating point implementation
of Gröbner basis computations and use these new insights to formulate fast and
stable algorithms for two minimal problems with radial distortion
previously solved in exact rational arithmetic only: (i) simultaneous
estimation of essential matrix and a common radial... (More) - A number of minimal problems of structure from motion for
cameras with radial distortion have recently been studied and solved
in some cases. These problems are known to be numerically very
challenging and in several cases there exist no known practical
algorithm yielding solutions in floating point arithmetic. We make
some crucial observations concerning the floating point implementation
of Gröbner basis computations and use these new insights to formulate fast and
stable algorithms for two minimal problems with radial distortion
previously solved in exact rational arithmetic only: (i) simultaneous
estimation of essential matrix and a common radial distortion
parameter for two partially calibrated views and six image point
correspondences and (ii) estimation of fundamental matrix and two
different radial distortion parameters for two uncalibrated views and
nine image point correspondences. We demonstrate on simulated and
real experiments that these two problems can be efficiently solved in
floating point arithmetic. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1057217
- author
- Byröd, Martin
LU
; Kukelova, Zuzana
; Josephson, Klas
LU
; Pajdla, Tomas
and Åström, Karl
LU
- organization
- publishing date
- 2008
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- [Host publication title missing]
- pages
- 2586 - 2593
- conference name
- IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPR Workshops), 2008
- conference location
- Anchorage, Alaska, United States
- conference dates
- 2008-06-23 - 2008-06-28
- external identifiers
-
- wos:000259736802039
- scopus:52249090469
- DOI
- 10.1109/CVPR.2008.4587674
- language
- English
- LU publication?
- yes
- id
- c70b5936-d059-4ed2-b60b-f481482f5392 (old id 1057217)
- date added to LUP
- 2016-04-04 13:36:40
- date last changed
- 2022-04-24 03:21:16
@inproceedings{c70b5936-d059-4ed2-b60b-f481482f5392,
abstract = {{A number of minimal problems of structure from motion for<br/><br>
cameras with radial distortion have recently been studied and solved<br/><br>
in some cases. These problems are known to be numerically very<br/><br>
challenging and in several cases there exist no known practical<br/><br>
algorithm yielding solutions in floating point arithmetic. We make<br/><br>
some crucial observations concerning the floating point implementation<br/><br>
of Gröbner basis computations and use these new insights to formulate fast and<br/><br>
stable algorithms for two minimal problems with radial distortion<br/><br>
previously solved in exact rational arithmetic only: (i) simultaneous<br/><br>
estimation of essential matrix and a common radial distortion<br/><br>
parameter for two partially calibrated views and six image point<br/><br>
correspondences and (ii) estimation of fundamental matrix and two<br/><br>
different radial distortion parameters for two uncalibrated views and<br/><br>
nine image point correspondences. We demonstrate on simulated and<br/><br>
real experiments that these two problems can be efficiently solved in<br/><br>
floating point arithmetic.}},
author = {{Byröd, Martin and Kukelova, Zuzana and Josephson, Klas and Pajdla, Tomas and Åström, Karl}},
booktitle = {{[Host publication title missing]}},
language = {{eng}},
pages = {{2586--2593}},
title = {{Fast and Robust Numerical Solutions to Minimal Problems for Cameras with Radial Distortion}},
url = {{https://lup.lub.lu.se/search/files/6162458/1057222.pdf}},
doi = {{10.1109/CVPR.2008.4587674}},
year = {{2008}},
}