Efficient Solution to the Epipolar Geometry for Radially Distorted Cameras

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Efficient Solution to the Epipolar Geometry for Radially Distorted Cameras

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Efficient Solution to the Epipolar Geometry for Radially Distorted Cameras

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

<a href="/cs/project/7E13015" target="_blank" >7E13015: Planetary Robotics Data Exploitation</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název statě ve sborníku

2015 IEEE International Conference on Computer Vision (ICCV 2015)

ISBN

978-1-4673-8391-2

ISSN

1550-5499

e-ISSN

—

Počet stran výsledku

9

Strana od-do

2309-2317

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Santiago de Chile

Datum konání akce

11. 12. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000380414100258