| Title | Fast and Robust Numerical Solutions to Minimal Problems for Cameras with Radial Distortion |
| Authors | Martin Byröd, Zuzana Kukelova, Klas Josephson, Tomas Pajdla, Karl Åström |
| Full-text | Available as PDF |
| Alternative Location | http://dx.doi.org/10.1109/C..., Restricted Access |
| Year | 2008 |
| Pages | 2586 - 2593 |
| Document type | Conference paper |
| Conference name | Conference on Computer Vision and Pattern Recognition |
| Conference Date | 2008-06-22 |
| Conference Location | Anchorage, Alaska, USA |
| Status | Published |
| Quality controlled | Yes |
| Language | eng |
| Abstract English | A number of minimal problems of structure from motion for<br> cameras with radial distortion have recently been studied and solved<br> in some cases. These problems are known to be numerically very<br> challenging and in several cases there exist no known practical<br> algorithm yielding solutions in floating point arithmetic. We make<br> some crucial observations concerning the floating point implementation<br> of Gröbner basis computations and use these new insights to formulate fast and<br> stable algorithms for two minimal problems with radial distortion<br> previously solved in exact rational arithmetic only: (i) simultaneous<br> estimation of essential matrix and a common radial distortion<br> parameter for two partially calibrated views and six image point<br> correspondences and (ii) estimation of fundamental matrix and two<br> different radial distortion parameters for two uncalibrated views and<br> nine image point correspondences. We demonstrate on simulated and<br> real experiments that these two problems can be efficiently solved in<br> floating point arithmetic. |
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