Efficient Solution to the Epipolar Geometry for Radially Distorted Cameras

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00304271" target="_blank" >RIV/68407700:21230/16:00304271 - isvavai.cz</a>
Result on the web
<a href="https://www.computer.org/csdl/proceedings/iccv/2015/8391/00/8391c309.pdf" target="_blank" >https://www.computer.org/csdl/proceedings/iccv/2015/8391/00/8391c309.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICCV.2015.266" target="_blank" >10.1109/ICCV.2015.266</a>

Result language
angličtina
Original language name
Efficient Solution to the Epipolar Geometry for Radially Distorted Cameras
Original language description
The estimation of the epipolar geometry of two cameras from image matches is a fundamental problem of computer vision with many applications. While the closely related problem of estimating relative pose of two different uncalibrated cameras with radial distortion is of particular importance, none of the previously published methods is suitable for practical applications. These solutions are either numerically unstable, sensitive to noise, based on a large number of point correspondences, or simply too slow for real-time applications. In this paper, we present a new efficient solution to this problem that uses 10 image correspondences. By manipulating ten input polynomial equations, we derive a degree 10 polynomial equation in one variable. The solutions to this equation are efficiently found using the Sturm sequences method. In the experiments, we show that the proposed solution is stable, noise resistant, and fast, and as such efficiently usable in a practical Structure-from-Motion pipeline.
Czech name
—
Czech description
—

Project
<a href="/en/project/7E13015" target="_blank" >7E13015: Planetary Robotics Data Exploitation</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2015 IEEE International Conference on Computer Vision (ICCV 2015)
ISBN
978-1-4673-8391-2
ISSN
1550-5499
e-ISSN
—
Number of pages
9
Pages from-to
2309-2317
Publisher name
IEEE
Place of publication
Piscataway
Event location
Santiago de Chile
Event date
Dec 11, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000380414100258

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