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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 (2008) In Image and Vision Computing 26(7). p.871-877
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. To this problem which to the best of our knowledge was unsolved we present an efficient solver. Through numerical experiments we demonstrate that the algorithm is correct, numerically stable and useful. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. (c) 2007 Elsevier B.V. All rights reserved.
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Computer Science, Theory & Methods, Electrical & Electronic, Artificial Intelligence, Software Engineering, Optics, Engineering
in
Image and Vision Computing
volume
26
issue
7
pages
871 - 877
publisher
Elsevier
external identifiers
  • wos:000256260800001
  • scopus:42249113702
ISSN
0262-8856
DOI
10.1016/j.imavis.2007.10.003
language
English
LU publication?
yes
id
e945d3af-79bc-485e-86f8-3ff49ef9ba51 (old id 615316)
date added to LUP
2007-11-25 16:53:40
date last changed
2017-05-07 04:03:11
@article{e945d3af-79bc-485e-86f8-3ff49ef9ba51,
  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. To this problem which to the best of our knowledge was unsolved we present an efficient solver. Through numerical experiments we demonstrate that the algorithm is correct, numerically stable and useful. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. (c) 2007 Elsevier B.V. All rights reserved.},
  author       = {Stewenius, Henrik and Nister, D and Kahl, Fredrik and Schaffalitzky, F},
  issn         = {0262-8856},
  keyword      = {Computer Science,Theory & Methods,Electrical & Electronic,Artificial Intelligence,Software Engineering,Optics,Engineering},
  language     = {eng},
  number       = {7},
  pages        = {871--877},
  publisher    = {Elsevier},
  series       = {Image and Vision Computing},
  title        = {A minimal solution for relative pose with unknown focal length},
  url          = {http://dx.doi.org/10.1016/j.imavis.2007.10.003},
  volume       = {26},
  year         = {2008},
}