Stratiied Self Calibration from Screw-transform Manifolds
نویسنده
چکیده
This paper introduces a new, stratiied approach for the metric self calibration of a camera with xed internal parameters. The method works by intersecting modulus-constraint manifolds, which are a speciic type of screw-transform manifold. Through the addition of a single scalar parameter, a 2-dimensional modulus-constraint mani-fold can become a 3-dimensional Kruppa-constraint manifold allowing for direct self calibration from disjoint pairs of views. In this way, we demonstrate that screw-transform manifolds represent a single, uniied approach to performing both stratiied and direct self calibration. This paper also shows how to generate the screw-transform manifold arising from turntable (i.e., pairwise-planar) motion and discusses some important considerations for creating a working algorithm from these ideas.
منابع مشابه
Metric Self Calibration from Screw-Transform Manifolds
Abstract This paper introduces a method for metric selfcalibration that is based on a novel decomposition of the fundamental matrix between two views taken by a camera with fixed internal parameters. The method blends important advantages of the Kruppa constraints and the modulus constraint: it works directly from fundamental matrices and uses a reduced-parameter representation for stability. G...
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