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A minimal solution for relative pose with unknown focal length

På svenska

Author

  • Henrik Stewenius
  • D Nister
  • Fredrik Kahl
  • F Schaffalitzky

Summary, in English

Assume that we have two perspective images with known intrinsic parameters except for an unknown common focal length. It is a minimally constrained problem to find the relative orientation between the two images given six corresponding points. We present an efficient solution to the problem and show that there are 15 solutions in general (including complex solutions). To the best of our knowledge this was a previously unsolved problem. The solutions are found through eigen-decomposition of a 15 x 15 matrix. The matrix itself is generated in closed form. We demonstrate through practical experiments that the algorithm is correct and numerically stable.

Publishing year

2005

Language

English

Pages

789-794

Publication/Series

2005 IEEE, Conference on Computer Vision and Pattern Recognition, Proceedings

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Mathematics

Conference name

IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2005

Conference date

2005-06-20 - 2005-06-25

Conference place

San Diego, CA, United States

Status

Published

ISBN/ISSN/Other

  • ISSN: 1063-6919