A Minimal Solution to Relative Pose with Unknown Focal Length and Radial Distortion
Jiang, Fangyuan LU ; Kuang, Yubin LU ; Solem, Jan Erik LU and Åström, Karl LU
(2015)
The 12th Asian Conference on Computer Vision (ACCV 2014), 2014
9004.
p.443-456
- Abstract
- In this paper, we study the minimal problem of estimating the essential matrix between two cameras with constant but unknown focal length and radial distortion. This problem is of both theoretical and practical interest and it has not been solved previously. We have derived a fast and stable polynomial solver based on Gr{\"o}bner basis method. This solver enables simultaneous auto-calibration of focal length and radial distortion for cameras. For experiments, the numerical stability of the solver is demonstrated on synthetic data. We also evaluate on real images using either RANSAC or kernel voting. Compared with the standard minimal solver, which does not model the radial distortion, our proposed solver both finds a larger set of... (More)
- In this paper, we study the minimal problem of estimating the essential matrix between two cameras with constant but unknown focal length and radial distortion. This problem is of both theoretical and practical interest and it has not been solved previously. We have derived a fast and stable polynomial solver based on Gr{\"o}bner basis method. This solver enables simultaneous auto-calibration of focal length and radial distortion for cameras. For experiments, the numerical stability of the solver is demonstrated on synthetic data. We also evaluate on real images using either RANSAC or kernel voting. Compared with the standard minimal solver, which does not model the radial distortion, our proposed solver both finds a larger set of geometrically correct correspondences on distorted images and gives an accurate estimate of the radial distortion and focal length. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/4730654
- author
- Jiang, Fangyuan
LU
; Kuang, Yubin
LU
; Solem, Jan Erik
LU
and Åström, Karl
LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- [Host publication title missing]
- editor
- Brown, Michael ; Cham, Tat-Jen and Matsushita, Yasuyuki
- volume
- 9004
- pages
- 15 pages
- publisher
- Springer
- conference name
- The 12th Asian Conference on Computer Vision (ACCV 2014), 2014
- conference location
- Singapore, Singapore
- conference dates
- 2014-11-01 - 2014-11-05
- external identifiers
-
- wos:000362445600030
- scopus:84945970154
- ISSN
- 0302-9743
- 1611-3349
- DOI
- 10.1007/978-3-319-16808-1_30
- language
- English
- LU publication?
- yes
- additional info
- The papers presented at the conference will be published in four volumes of Springer’s Lecture Notes on Computer Science (LNCS).
- id
- 9edf9eb9-e787-414a-9b02-e7f9f8d322f4 (old id 4730654)
- date added to LUP
- 2016-04-01 10:24:13
- date last changed
- 2024-12-30 12:29:23
@inproceedings{9edf9eb9-e787-414a-9b02-e7f9f8d322f4,
abstract = {{In this paper, we study the minimal problem of estimating the essential matrix between two cameras with constant but unknown focal length and radial distortion. This problem is of both theoretical and practical interest and it has not been solved previously. We have derived a fast and stable polynomial solver based on Gr{\"o}bner basis method. This solver enables simultaneous auto-calibration of focal length and radial distortion for cameras. For experiments, the numerical stability of the solver is demonstrated on synthetic data. We also evaluate on real images using either RANSAC or kernel voting. Compared with the standard minimal solver, which does not model the radial distortion, our proposed solver both finds a larger set of geometrically correct correspondences on distorted images and gives an accurate estimate of the radial distortion and focal length.}},
author = {{Jiang, Fangyuan and Kuang, Yubin and Solem, Jan Erik and Åström, Karl}},
booktitle = {{[Host publication title missing]}},
editor = {{Brown, Michael and Cham, Tat-Jen and Matsushita, Yasuyuki}},
issn = {{0302-9743}},
language = {{eng}},
pages = {{443--456}},
publisher = {{Springer}},
title = {{A Minimal Solution to Relative Pose with Unknown Focal Length and Radial Distortion}},
url = {{https://lup.lub.lu.se/search/files/1815059/4730655.pdf}},
doi = {{10.1007/978-3-319-16808-1_30}},
volume = {{9004}},
year = {{2015}},
}