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A minimal solution for relative pose with unknown focal length

Stewenius, Henrik LU ; Nister, D; Kahl, Fredrik LU and Schaffalitzky, F (2005) IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005 In 2005 IEEE, Conference on Computer Vision and Pattern Recognition, Proceedings 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.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
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
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
2009-06-05 11:58:55
date last changed
2017-08-27 05:29:51
@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},
  year         = {2005},
}