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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 In [Host publication title missing] 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
[Host publication title missing]
editor
Brown, Michael; Cham, Tat-Jen; Matsushita, Yasuyuki; ; and
volume
9004
pages
15 pages
publisher
Springer
conference name
The 12th Asian Conference on Computer Vision (ACCV 2014), 2014
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
id
9edf9eb9-e787-414a-9b02-e7f9f8d322f4 (old id 4730654)
date added to LUP
2015-02-20 12:45:55
date last changed
2017-01-01 03:33:16
@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          = {http://dx.doi.org/10.1007/978-3-319-16808-1_30},
  volume       = {9004},
  year         = {2015},
}