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

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

A number of minimal problems of structure from motion for cameras with radial distortion have recently been studied and solved in some cases. These problems are known to be numerically very challenging and in several cases there exist no known practicalalgorithm yielding solutions in floating point arithmetic. We make some crucial observations concerning the floating point implementation of Gröbner 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 radial distortion parameters for two uncalibrated views and nine image point correspondences. We demonstrate on simulated and real experiments that these two problems can be efficiently solv

Název v anglickém jazyce

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

Popis výsledku anglicky

A number of minimal problems of structure from motion for cameras with radial distortion have recently been studied and solved in some cases. These problems are known to be numerically very challenging and in several cases there exist no known practicalalgorithm yielding solutions in floating point arithmetic. We make some crucial observations concerning the floating point implementation of Gröbner 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 radial distortion parameters for two uncalibrated views and nine image point correspondences. We demonstrate on simulated and real experiments that these two problems can be efficiently solv

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2008

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

CVPR 2008: Proceedings of the 2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition

ISBN

978-1-4244-2242-5

ISSN

1063-6919

e-ISSN

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Počet stran výsledku

8

Strana od-do

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Název nakladatele

Omnipress

Místo vydání

Medison

Místo konání akce

Anchorage, Alaska

Datum konání akce

24. 6. 2008

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000259736802039