Simultaneous linear estimation of multiple view geometry and lens distortion

نویسنده

  • Andrew W. Fitzgibbon
چکیده

A bugbear of uncalibrated stereo reconstruction is that cameras which deviate from the pinhole model have to be pre-calibrated in order to correct for nonlinear lens distortion. If they are not, and point correspondence is attempted using the uncorrected images, the matching constraints provided by the fundamental matrix must be set so loose that point matching is significantly hampered. This paper shows how linear estimation of the fundamental matrix from two-view point correspondences may be augmented to include one term of radial lens distortion. This is achieved by (1) changing from the standard radiallens model to another which (as we show) has equivalent power, but which takes a simpler form in homogeneous coordinates, and (2) expressing fundamental matrix estimation as a Quadratic Eigenvalue Problem (QEP), for which efficient algorithms are well known. I derive the new estimator, and compare its performance against bundle-adjusted calibration-grid data. The new estimator is fast enough to be included in a RANSAC-based matching loop, and we show cases of matching being rendered possible by its use. I show how the same lens can be calibrated in a natural scene where the lack of straight lines precludes most previous techniques. The modification when the multi-view relation is a planar homography or trifocal tensor is described.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Estimation of omnidirectional camera model from epipolar geometry

We generalize the method of simultaneous linear estimation of multiple view geometry and lens distortion, introduced by Fitzgibbon at CVPR 2001 [6], to an omnidirectional (angle of view larger than 180) camera. The perspective camera is replaced by a linear camera with a spherical retina and a non-linear mapping of the sphere into the image plane. Unlike the previous distortion-based models, th...

متن کامل

Overconstrained Linear Estimation of Radial Distortion and Multi-view Geometry

This paper introduces a new method for simultaneous estimation of lens distortion and multi-view geometry using only point correspondences. The new technique has significant advantages over the current state-of-the art in that it makes more effective use of correspondences arising from any number of views. Multi-view geometry in the presence of lens distortion can be expressed as a set of point...

متن کامل

Unknown Radial Distortion Centers in Multiple View Geometry Problems

The radial undistortion model proposed by Fitzgibbon and the radial fundamental matrix were early steps to extend classical epipolar geometry to distorted cameras. Later minimal solvers have been proposed to find relative pose and radial distortion, given point correspondences between images. However, a big drawback of all these approaches is that they require the distortion center to be exactl...

متن کامل

Fully automatic stitching and distortion correction of transmission electron microscope images.

In electron microscopy, a large field of view is commonly captured by taking several images of a sample region and then by stitching these images together. Non-linear lens distortions induced by the electromagnetic lenses of the microscope render a seamless stitching with linear transformations impossible. This problem is aggravated by large CCD cameras, as they are commonly in use nowadays. We...

متن کامل

True Multi-Image Alignment and its Application to Mosaicing and Lens Distortion Correction

Multiple images of a scene are related through 2D/3D view transformations and linear and non-linear camera transformations. In the traditional techniques to compute these transformations, especially the ones relying on direct intensity gradients, one image and its coordinate system have been assumed to be ideal and distortion free. In this paper, we present an algorithm for true multiimage alig...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2001