NDLI: Photogrammetric relative pose estimation with varying and unknown focal length

Content Provider	IEEE Xplore Digital Library
Author	Xiangguo Fu Xiaolin Zhang
Copyright Year	2012
Description	Author affiliation: Precision and Intelligence Laboratory, Tokyo Institute of Technology, Tokyo, Japan (Xiaolin Zhang) \|\| Department of Information Processing, Tokyo Institute of Technology, Tokyo, Japan (Xiangguo Fu)
Abstract	This paper addresses on the estimation problem of relative pose from two views with the varying and unknown focal length. For statistical optimization, approximated maximum likelihood estimation in the presence of noise and measurement model is proposed under the inter-image epipolar constraint. In order to achieve a direct solution of relative pose, the fundamental matrix is reparameterized with minimal degrees of freedom. Then, we derive the analytical differentiation and adopt the Levenberg-Marquardt algorithm to solve the optimization problem for efficient computation. Experiments show that the proposed method is comparable to bundle adjustment while providing a significant advantage in terms of computational cost.
Starting Page	48
Ending Page	55
File Size	744838
Page Count	8
File Format	PDF
ISBN	9781467324656
e-ISBN	9781467324670
DOI	10.1109/MSNA.2012.6324514
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-08-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Geometry Symmetric matrices Pose estimation Estimation Cameras Vectors Maximum likelihood Fundamental matrix Optimization Levenberg-Marquardt algorithm
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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