Related papers: Are Minimal Radial Distortion Solvers Necessary fo…
Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient…
The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces…
We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…
We propose three novel solvers for estimating the relative pose of a multi-camera system from affine correspondences (ACs). A new constraint is derived interpreting the relationship of ACs and the generalized camera model. Using the…
The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…
Homographies are among the most prevalent transformations occurring in geometric computer vision and projective geometry, and homography estimation is consequently a crucial step in a wide assortment of computer vision tasks. When working…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
This paper introduces the first minimal solvers that jointly solve for affine-rectification and radial lens distortion from coplanar repeated patterns. Even with imagery from moderately distorted lenses, plane rectification using the…
This paper introduces the first minimal solvers that jointly estimate lens distortion and affine rectification from repetitions of rigidly transformed coplanar local features. The proposed solvers incorporate lens distortion into the camera…
We present a novel method to compute the relative pose of multi-camera systems using two affine correspondences (ACs). Existing solutions to the multi-camera relative pose estimation are either restricted to special cases of motion, have…
In this paper we present four cases of minimal solutions for two-view relative pose estimation by exploiting the affine transformation between feature points and we demonstrate efficient solvers for these cases. It is shown, that under the…
The common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating…
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce certain amount of nonlinear distortion, where the radial distortion is the most severe part.…
We present an approach to solving hard geometric optimization problems in the RANSAC framework. The hard minimal problems arise from relaxing the original geometric optimization problem into a minimal problem with many spurious solutions.…
Common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial…
The common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating…
Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…
This paper proposes minimal solvers that use combinations of imaged translational symmetries and parallel scene lines to jointly estimate lens undistortion with either affine rectification or focal length and absolute orientation. We use…
How to efficiently and accurately handle image matching outliers is a critical issue in two-view relative estimation. The prevailing RANSAC method necessitates that the minimal point pairs be inliers. This paper introduces a linear relative…