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Pose Disambiguation in Uncalibrated Structure from Motion

Guilbert, Nicolas LU ; Kahl, Fredrik and Heyden, Anders (2002) Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 In Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002 p.132-137
Abstract
In this paper we examine the ambiguities between extrinsic and intrinsic parameters in the uncalibrated structure and motion problem. The Jacobian J of the reprojection error is considered, treating each camera separately. Ambiguities correspond to linear dependencies in the column space of J and we thus detect and quantify these by using the condition number of selected combinations of columns of J. When the presence of an ambiguity has been detected, we automatically select a constraint (e.g. constant principal point, or a regularity constraint on the camera motion) that resolves this ambiguity. As a by-product we also obtain a better separation between intrinsic and extrinsic parameters. The proposed method is demonstrated on both... (More)
In this paper we examine the ambiguities between extrinsic and intrinsic parameters in the uncalibrated structure and motion problem. The Jacobian J of the reprojection error is considered, treating each camera separately. Ambiguities correspond to linear dependencies in the column space of J and we thus detect and quantify these by using the condition number of selected combinations of columns of J. When the presence of an ambiguity has been detected, we automatically select a constraint (e.g. constant principal point, or a regularity constraint on the camera motion) that resolves this ambiguity. As a by-product we also obtain a better separation between intrinsic and extrinsic parameters. The proposed method is demonstrated on both synthetic and real data, with good performance. (Less)
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Camera motion, Reconstruction algorithms
in
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
pages
132 - 137
publisher
Nanyang Technological University
conference name
Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
external identifiers
  • scopus:2342444759
ISBN
9810474806
language
English
LU publication?
yes
id
caafa0c4-b674-4f8d-9d04-96ea4acd52c4 (old id 610423)
date added to LUP
2007-11-27 13:48:52
date last changed
2017-01-01 08:00:48
@inproceedings{caafa0c4-b674-4f8d-9d04-96ea4acd52c4,
  abstract     = {In this paper we examine the ambiguities between extrinsic and intrinsic parameters in the uncalibrated structure and motion problem. The Jacobian J of the reprojection error is considered, treating each camera separately. Ambiguities correspond to linear dependencies in the column space of J and we thus detect and quantify these by using the condition number of selected combinations of columns of J. When the presence of an ambiguity has been detected, we automatically select a constraint (e.g. constant principal point, or a regularity constraint on the camera motion) that resolves this ambiguity. As a by-product we also obtain a better separation between intrinsic and extrinsic parameters. The proposed method is demonstrated on both synthetic and real data, with good performance.},
  author       = {Guilbert, Nicolas and Kahl, Fredrik and Heyden, Anders},
  booktitle    = {Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002},
  isbn         = {9810474806},
  keyword      = {Camera motion,Reconstruction algorithms},
  language     = {eng},
  pages        = {132--137},
  publisher    = {Nanyang Technological University},
  title        = {Pose Disambiguation in Uncalibrated Structure from Motion},
  year         = {2002},
}