Pose Disambiguation in Uncalibrated Structure from Motion

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

Abstract

In this paper we examine the ambiguities between extrinsic and intrinsic parameters in the uncalibrated structure and motion problem. The Jacobian J of the reprojection error is considered, treating each camera separately. Ambiguities correspond to linear dependencies in the column space of J and we thus detect and quantify these by using the condition number of selected combinations of columns of J. When the presence of an ambiguity has been detected, we automatically select a constraint (e.g. constant principal point, or a regularity constraint on the camera motion) that resolves this ambiguity. As a by-product we also obtain a better separation between intrinsic and extrinsic parameters. The proposed method is demonstrated on both synthetic and real data, with good performance.

Details

Authors
  • Nicolas Guilbert
  • Fredrik Kahl
  • Anders Heyden
Organisations
Research areas and keywords

Subject classification (UKÄ)

  • Mathematics

Keywords

  • Camera motion, Reconstruction algorithms
Original languageEnglish
Title of host publicationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
PublisherNanyang Technological University
Pages132-137
ISBN (Print)9810474806
Publication statusPublished - 2002
Publication categoryResearch
Peer-reviewedYes
EventProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
Duration: 2002 Dec 22002 Dec 5

Conference

ConferenceProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Country/TerritorySingapore
CitySingapore
Period2002/12/022002/12/05