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

Kód výsledku v 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>

Výsledek na webu

—

DOI - Digital Object Identifier

—

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 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.

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 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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

<a href="/cs/project/7E09062" target="_blank" >7E09062: Planetary Robotics Vision Ground Processing</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)<br>R - Projekt Ramcoveho programu EK

Rok uplatnění

2010

Kód důvěrnosti údajů

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

Název periodika

Computer Vision and Image Understanding

ISSN

1077-3142

e-ISSN

—

Svazek periodika

114

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

11

Strana od-do

—

Kód UT WoS článku

000274337400007

EID výsledku v databázi Scopus

—