Pose Disambiguation in Uncalibrated Structure from Motion

Nicolas Guilbert, Fredrik Kahl, Anders Heyden

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceedingPeer review

Sammanfattning

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.
Originalspråkengelska
Titel på gästpublikationProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002
FörlagNanyang Technological University
Sidor132-137
ISBN (tryckt)9810474806
StatusPublished - 2002
EvenemangProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002 - Singapore, Singapore
Varaktighet: 2002 dec 22002 dec 5

Konferens

KonferensProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARC 2002
Land/TerritoriumSingapore
OrtSingapore
Period2002/12/022002/12/05

Ämnesklassifikation (UKÄ)

  • Matematik

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