A minimal solution for relative pose with unknown focal length
(2005) IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005 p.789-794- 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. We present an efficient solution to the problem and show that there are 15 solutions in general (including complex solutions). To the best of our knowledge this was a previously unsolved problem. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. We demonstrate through practical experiments that the algorithm is correct and numerically stable.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1406312
- author
- Stewenius, Henrik LU ; Nister, D ; Kahl, Fredrik LU and Schaffalitzky, F
- organization
- publishing date
- 2005
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2005 IEEE, Conference on Computer Vision and Pattern Recognition, Proceedings
- pages
- 789 - 794
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005
- conference location
- San Diego, CA, United States
- conference dates
- 2005-06-20 - 2005-06-25
- external identifiers
-
- wos:000230925500108
- scopus:24644521143
- ISSN
- 1063-6919
- DOI
- 10.1109/CVPR.2005.36
- language
- English
- LU publication?
- yes
- id
- 1b109fdb-c735-44e6-99e0-8c0ab7af1ef7 (old id 1406312)
- date added to LUP
- 2016-04-01 16:35:14
- date last changed
- 2022-03-22 19:36:56
@inproceedings{1b109fdb-c735-44e6-99e0-8c0ab7af1ef7, 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. We present an efficient solution to the problem and show that there are 15 solutions in general (including complex solutions). To the best of our knowledge this was a previously unsolved problem. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. We demonstrate through practical experiments that the algorithm is correct and numerically stable.}}, author = {{Stewenius, Henrik and Nister, D and Kahl, Fredrik and Schaffalitzky, F}}, booktitle = {{2005 IEEE, Conference on Computer Vision and Pattern Recognition, Proceedings}}, issn = {{1063-6919}}, language = {{eng}}, pages = {{789--794}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{A minimal solution for relative pose with unknown focal length}}, url = {{http://dx.doi.org/10.1109/CVPR.2005.36}}, doi = {{10.1109/CVPR.2005.36}}, year = {{2005}}, }