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Minimal Solvers for Rectifying from Radially-Distorted Scales and Change of Scales [article]

James Pritts, Zuzana Kukelova, Viktor Larsson, Yaroslava Lochman, Ondřej Chum
2019 arXiv   pre-print
This paper introduces the first minimal solvers that jointly estimate lens distortion and affine rectification from the image of rigidly-transformed coplanar features.  ...  The solvers are separated into two groups that differ by how the equal scale invariant of rectified space is used to place constraints on the lens undistortion and rectification parameters.  ...  Acknowledgements James Pritts acknowledges the European Regional Development Fund under the project Robotics for  ... 
arXiv:1907.11539v1 fatcat:a6hmcgzfxjhf5nqmwjimzb7ide

Rectification from Radially-Distorted Scales [article]

James Pritts, Zuzana Kukelova, Viktor Larsson, Ondrej Chum
2018 arXiv   pre-print
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 model and extend accurate rectification to wide-angle images that contain nearly any type of coplanar repeated content.  ...  λ [7] ; and the change-of-scale solver for affine rectification of [10] , denoted H 22 ls i .  ... 
arXiv:1807.06110v4 fatcat:kbt6rsqasbfxtlxtnmli4hfm6a

Minimal Solvers for Rectifying from Radially-Distorted Conjugate Translations [article]

James Pritts, Zuzana Kukelova, Viktor Larsson, Yaroslava Lochman, Ondřej Chum
2020 arXiv   pre-print
This paper introduces minimal solvers that jointly solve for affine-rectification and radial lens undistortion from the image of translated and reflected coplanar features.  ...  The proposed solvers use the invariant that the affine-rectified image of the meet of the joins of radially-distorted conjugately-translated point correspondences is on the line at infinity.  ...  [12] , which are used to assess the benefits of jointly solving for radially-distorted conjugate translations (and lens undistortion) from the minimal problem, as done with the proposed solvers, versus  ... 
arXiv:1911.01507v3 fatcat:qjyosq2lmze2fcloxi4j2criqm

Radially-Distorted Conjugate Translations [article]

James Pritts, Zuzana Kukelova, Viktor Larsson, Ondrej Chum
2018 arXiv   pre-print
This paper introduces the first minimal solvers that jointly solve for affine-rectification and radial lens distortion from coplanar repeated patterns.  ...  The solvers are derived from constraints induced by the conjugate translations of an imaged scene plane, which are integrated with the division model for radial lens distortion.  ...  In this paper we propose four different minimal solvers for different variants of the problem of radially-distorted conjugate translations based on different translation directions and relative scales  ... 
arXiv:1711.11339v3 fatcat:qtluepzluvhd3gbfyhnbr3cmgu

Radially-Distorted Conjugate Translations

James Pritts, Zuzana Kukelova, Viktor Larsson, Ondrej Chum
2018 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition  
This paper introduces the first minimal solvers that jointly solve for affine-rectification and radial lens distortion from coplanar repeated patterns.  ...  The solvers are derived from constraints induced by the conjugate translations of an imaged scene plane, which are integrated with the division model for radial lens distortion.  ...  Included in the benchmarks are two single-view solvers: H2lu [23], which also incorporates constraints from conjugate translations, and H4lγ [4] , which solves for rectification and change-of-scale, and  ... 
doi:10.1109/cvpr.2018.00213 dblp:conf/cvpr/PrittsKLC18 fatcat:khbt5mqydvce3mbgpqyxfcrcra

Efficient Real-Time Radial Distortion Correction for UAVs [article]

Marcus Valtonen Örnhag and Patrik Persson and Mårten Wadenbäck and Kalle Åström and Anders Heyden
2020 arXiv   pre-print
We propose a fast and robust minimal solver for simultaneously estimating the focal length, radial distortion profile and motion parameters from homographies.  ...  In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time.  ...  minimal solvers that deal with radial distortion.  ... 
arXiv:2010.04203v1 fatcat:rkqovaqk4fhnlbbfokrn62xjey

Trust Your IMU: Consequences of Ignoring the IMU Drift [article]

Marcus Valtonen Örnhag and Patrik Persson and Mårten Wadenbäck and Kalle Åström and Anders Heyden
2021 arXiv   pre-print
We develop the first-ever solver to jointly solve the relative pose problem with unknown and equal focal length and radial distortion profile while utilizing the IMU data.  ...  The extended intrinsic auto-calibration enables us to use distorted input images, making tedious calibration processes obsolete, compared to current state-of-the-art methods.  ...  Pose Estimation with Rectified Images In this section, we use the rectified images for the methods that do not compensate for radial distortion (the proposed 3-point solver, the 4-point solver [5] and  ... 
arXiv:2103.08286v2 fatcat:ouul6gjrxvdwxf2xwhgegmsjjm

Self-calibration of hybrid central catadioptric and perspective cameras

Xiaoming Deng, Fuchao Wu, Yihong Wu, Fuqing Duan, Liang Chang, Hongan Wang
2012 Computer Vision and Image Understanding  
Firstly, with the epipolar geometry between the perspective and rectified catadioptric images, the distortion parameters of the polynomial model can be estimated linearly.  ...  In this work, an approximated polynomial model is derived and used for rectification of catadioptric image.  ...  the minimal solver.  ... 
doi:10.1016/j.cviu.2012.02.003 fatcat:lnd4grrilvckrf5ntqrp6vgsvq

Minimal Solvers for Indoor UAV Positioning [article]

Marcus Valtonen Örnhag and Patrik Persson and Mårten Wadenbäck and Kalle Åström and Anders Heyden
2020 arXiv   pre-print
The solvers are designed for a partially calibrated camera, for a variety of realistic indoor scenarios, which makes it possible to navigate using images of the ground floor.  ...  We show that the proposed solvers enjoy better numerical stability, are faster, and require fewer point correspondences, compared to state-of-the-art solvers.  ...  involving some kind of geometric distortion such as radial distortion [9] - [16] or 1 Code available at: https://github.com/marcusvaltonen/minimal indoor uav. refractive distortion in underwater  ... 
arXiv:2003.07111v1 fatcat:fysfcasllzf6xaghssaxdovtpu

Pixel-variant Local Homography for Fisheye Stereo Rectification Minimizing Resampling Distortion [article]

Dingfu Zhou, Yuchao Dai, Hongdong Li
2017 arXiv   pre-print
One obvious drawback of existing methods is that the resampling distortion (which is defined as the loss of pixels due to under-sampling and the creation of new pixels due to over-sampling during rectification  ...  Large field-of-view fisheye lens cameras have attracted more and more researchers' attention in the field of robotics.  ...  Furthermore, Häne et al. transferred this technique for fisheye images in [14] . However, before applying plane-sweeping, the tangential and radial distortions of fisheye images should be removed.  ... 
arXiv:1707.03775v1 fatcat:klfwq6ydwrg3fkyrctqqxpg5ye

Wide-angle Image Rectification: A Survey [article]

Jinlong Fan and Jing Zhang and Stephen J. Maybank and Dacheng Tao
2021 arXiv   pre-print
Then, we summarize several distortion models including radial distortion and projection distortion.  ...  , and preventing the use of off-the-shelf deep models trained on undistorted images for downstream computer vision tasks.  ...  camera model along the radial axis from the center of the distortion (Hughes et al., 2008) .  ... 
arXiv:2011.12108v2 fatcat:ralnii5gd5hnrh7nwqlwicq6ha

Improving the Egomotion Estimation by Correcting the Calibration Bias

Ivan Krešo, Siniša Šegvić
2015 Proceedings of the 10th International Conference on Computer Vision Theory and Applications  
We present a novel approach for improving the accuracy of the egomotion recovered from rectified stereoscopic video.  ...  odometry with original and corrected calibration parameters.  ...  for Safe Traffic".  ... 
doi:10.5220/0005316103470356 dblp:conf/visapp/KresoS15 fatcat:pc4fegidnjailpqs4lvsxntnpe

Refinement of Surface Mesh for Accurate Multi-View Reconstruction

Radim Tyle_ek, Radim Šára
2010 International Journal of Virtual Reality  
In this paper we propose a pipeline for accurate 3D reconstruction from multiple images that deals with some of the possible sources of inaccuracy present in the input data.  ...  Our main contribution lies in effective computation of the gradient that naturally regularization and data terms by employing scale space approach.  ...  ACKNOWLEDGMENT The authors would like to thank Christoph Strecha for help with his evaluation system.  ... 
doi:10.20870/ijvr.2010.9.1.2761 fatcat:hlkcxjdjbfaljc4wc3vprgmyay

3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection [article]

Christian Häne, Lionel Heng, Gim Hee Lee, Friedrich Fraundorfer, Paul Furgale, Torsten Sattler, Marc Pollefeys
2017 arXiv   pre-print
To minimize the number of cameras needed for surround perception, we utilize fisheye cameras.  ...  In this paper, we describe the camera calibration and subsequent processing pipeline for multi-fisheye-camera systems developed as part of the V-Charge project.  ...  the radial and tangential distortion parameters.  ... 
arXiv:1708.09839v1 fatcat:sa2ze4tkg5dqng44u2tjtf2ygu

Gyroscope-aided Relative Pose Estimation for Rolling Shutter Cameras [article]

Chang-Ryeol Lee, Ju Hong Yoon, Min-Gyu Park, Kuk-Jin Yoon
2019 arXiv   pre-print
Having gyroscope measurements in one hand, we simplify the relative pose estimation problem and find a minimal solution for the problem based on the Grobner basis polynomial solver.  ...  Experimental results on synthetic and real data verify the superiority of the proposed method over existing relative pose estimation methods.  ...  Then, we find the minimal solution for the simplified problems by using the Grobner basis polynomial equation solver.  ... 
arXiv:1904.06770v1 fatcat:h74epvyuuvcxfodnutyvtt7r3a
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