A minimal solution for relative pose with unknown focal length
(2008) In Image and Vision Computing 26(7). p.871-877- Abstract
- Assume that we have two perspective images with known intrinsic parameters except for an unknown common focal length. It is a minimally constrained problem to find the relative orientation between the two images given six corresponding points. To this problem which to the best of our knowledge was unsolved we present an efficient solver. Through numerical experiments we demonstrate that the algorithm is correct, numerically stable and useful. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. (c) 2007 Elsevier B.V. All rights reserved.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/615316
- author
- Stewenius, Henrik LU ; Nister, D ; Kahl, Fredrik LU and Schaffalitzky, F
- organization
- publishing date
- 2008
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Computer Science, Theory & Methods, Electrical & Electronic, Artificial Intelligence, Software Engineering, Optics, Engineering
- in
- Image and Vision Computing
- volume
- 26
- issue
- 7
- pages
- 871 - 877
- publisher
- Elsevier
- external identifiers
-
- wos:000256260800001
- scopus:42249113702
- ISSN
- 0262-8856
- DOI
- 10.1016/j.imavis.2007.10.003
- language
- English
- LU publication?
- yes
- id
- e945d3af-79bc-485e-86f8-3ff49ef9ba51 (old id 615316)
- date added to LUP
- 2016-04-01 14:32:15
- date last changed
- 2022-04-06 19:07:22
@article{e945d3af-79bc-485e-86f8-3ff49ef9ba51, abstract = {{Assume that we have two perspective images with known intrinsic parameters except for an unknown common focal length. It is a minimally constrained problem to find the relative orientation between the two images given six corresponding points. To this problem which to the best of our knowledge was unsolved we present an efficient solver. Through numerical experiments we demonstrate that the algorithm is correct, numerically stable and useful. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. (c) 2007 Elsevier B.V. All rights reserved.}}, author = {{Stewenius, Henrik and Nister, D and Kahl, Fredrik and Schaffalitzky, F}}, issn = {{0262-8856}}, keywords = {{Computer Science; Theory & Methods; Electrical & Electronic; Artificial Intelligence; Software Engineering; Optics; Engineering}}, language = {{eng}}, number = {{7}}, pages = {{871--877}}, publisher = {{Elsevier}}, series = {{Image and Vision Computing}}, title = {{A minimal solution for relative pose with unknown focal length}}, url = {{http://dx.doi.org/10.1016/j.imavis.2007.10.003}}, doi = {{10.1016/j.imavis.2007.10.003}}, volume = {{26}}, year = {{2008}}, }