NDLI: Real-Time Solution to the Absolute Pose Problem with Unknown Radial Distortion and Focal Length

Content Provider	IEEE Xplore Digital Library
Author	Kukelova, Z. Bujnak, M. Pajdla, T.
Copyright Year	2013
Description	Author affiliation: Fac. of Electr. Eng., Czech Tech. Univ., Prague, Czech Republic (Kukelova, Z.; Pajdla, T.) \|\| Capturing Reality s.r.o., Bratislava, Slovakia (Bujnak, M.)
Abstract	The problem of determining the absolute position and orientation of a camera from a set of 2D-to-3D point correspondences is one of the most important problems in computer vision with a broad range of applications. In this paper we present a new solution to the absolute pose problem for camera with unknown radial distortion and unknown focal length from five 2D-to-3D point correspondences. Our new solver is numerically more stable, more accurate, and significantly faster than the existing state-of-the-art minimal four point absolute pose solvers for this problem. Moreover, our solver results in less solutions and can handle larger radial distortions. The new solver is straightforward and uses only simple concepts from linear algebra. Therefore it is simpler than the state-of-the-art Groebner basis solvers. We compare our new solver with the existing state-of-the-art solvers and show its usefulness on synthetic and real datasets.
Sponsorship	IEEE Comput. Soc.
Starting Page	2816
Ending Page	2823
File Size	2233969
Page Count	8
File Format	PDF
ISBN	9781479928408
ISSN	15505499
DOI	10.1109/ICCV.2013.350
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-01
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Mathematical model Transmission line matrix methods Noise Three-dimensional displays Polynomials 3D reconstruction absolute pose radial distortion focal length
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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