Radial Distortion Triangulation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00335893" target="_blank" >RIV/68407700:21230/19:00335893 - isvavai.cz</a>

Výsledek na webu

<a href="http://openaccess.thecvf.com/content_CVPR_2019/html/Kukelova_Radial_Distortion_Triangulation_CVPR_2019_paper.html" target="_blank" >http://openaccess.thecvf.com/content_CVPR_2019/html/Kukelova_Radial_Distortion_Triangulation_CVPR_2019_paper.html</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CVPR.2019.00991" target="_blank" >10.1109/CVPR.2019.00991</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Radial Distortion Triangulation

Popis výsledku v původním jazyce

This paper presents the first optimal, maximal likelihood, solution to the triangulation problem for radially distorted cameras. The proposed solution to the two-view triangulation problem minimizes the L2-norm of the reprojection error in the distorted image space. We cast the problem as the search for corrected distorted image points, and we use a Lagrange multiplier formulation to impose the epipolar constraint for undistorted points. For the one-parameter division model, this formulation leads to a system of five quartic polynomial equations in five unknowns, which can be exactly solved using the Groebner basis method. While the proposed Groebner basis solution is provably optimal; it is too slow for practical applications. Therefore, we developed a fast iterative solver to this problem. Extensive empirical tests show that the iterative algorithm delivers the optimal solution virtually every time, thus making it an L2-optimal algorithm de facto. It is iterative in nature, yet in practice, it converges in no more than five iterations. We thoroughly evaluate the proposed method on both synthetic and real-world data, and we show the benefits of performing the triangulation in the distorted space in the presence of radial distortion.

Název v anglickém jazyce

Radial Distortion Triangulation

Popis výsledku anglicky

This paper presents the first optimal, maximal likelihood, solution to the triangulation problem for radially distorted cameras. The proposed solution to the two-view triangulation problem minimizes the L2-norm of the reprojection error in the distorted image space. We cast the problem as the search for corrected distorted image points, and we use a Lagrange multiplier formulation to impose the epipolar constraint for undistorted points. For the one-parameter division model, this formulation leads to a system of five quartic polynomial equations in five unknowns, which can be exactly solved using the Groebner basis method. While the proposed Groebner basis solution is provably optimal; it is too slow for practical applications. Therefore, we developed a fast iterative solver to this problem. Extensive empirical tests show that the iterative algorithm delivers the optimal solution virtually every time, thus making it an L2-optimal algorithm de facto. It is iterative in nature, yet in practice, it converges in no more than five iterations. We thoroughly evaluate the proposed method on both synthetic and real-world data, and we show the benefits of performing the triangulation in the distorted space in the presence of radial distortion.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF17_050%2F0008025" target="_blank" >EF17_050/0008025: Mezinárodní mobility výzkumných pracovníků MSCA-IF na ČVUT</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

CVPR 2019: Proceedings of the 2019 IEEE Conference on Computer Vision and Pattern Recognition

ISBN

978-1-7281-3293-8

ISSN

1063-6919

e-ISSN

2575-7075

Počet stran výsledku

9

Strana od-do

9673-9681

Název nakladatele

IEEE

Místo vydání

—

Místo konání akce

Long Beach

Datum konání akce

15. 6. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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