Fast and Robust Numerical Solutions to Minimal Problems for Cameras with Radial Distortion

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00162858" target="_blank" >RIV/68407700:21230/10:00162858 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Fast and Robust Numerical Solutions to Minimal Problems for Cameras with Radial Distortion
Original language description
A number of minimal problems of structure from motion for cameras with radial distortion have recently been solved. These problems are known to be numerically very challenging and in several cases there were no practical algorithms yielding solutions inFP. We make some crucial observations concerning the floating point implementation of Groebner basis computations and use these new insights to formulate fast and stable algorithms for two minimal problems with radial distortion previously solved in exact rational arithmetic only: (i) simultaneous estimation of essential matrix and a common radial distortion parameter for two partially calibrated views and six image point correspondences and (ii) estimation of fundamental matrix and two different radialdistortion parameters for two uncalibrated views and nine image point correspondences. We demonstrate that these two problems can be efficiently solved in floating point arithmetic in simulated and real experiments.
Czech name
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Czech description
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Project
<a href="/en/project/7E09062" target="_blank" >7E09062: Planetary Robotics Vision Ground Processing</a>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP) Z - Vyzkumny zamer (s odkazem do CEZ) R - Projekt Ramcoveho programu EK

Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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