IPSJ Transactions on Computer Vision and Applications
Online ISSN : 1882-6695
ISSN-L : 1882-6695
Efficient solutions to the absolute pose of cameras with unknown focal length and radial distortion by decomposition to planar and non-planar cases
Martin BujnakZuzana KukelovaTomas Pajdla
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2012 Volume 4 Pages 78-86

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Abstract

In this paper we present new efficient solutions to the absolute pose problems for cameras with unknown focal length and unknown focal length and radial distortion from four 2D-to-3D point correspondences. We propose to solve these problems separately for non-planar and for planar scenes. By decomposing the problems into these two situations we obtain simpler and more efficient solvers than the previously known general solvers. We demonstrate in synthetic and real experiments significant speedup of our solvers. Especially our new solvers for absolute pose problem for camera with unknown focal length and radial distortion are about 40 × (non-planar) and 160 × (planar) faster than the general solver. Moreover, we show that our specific solvers can be joined into new general solvers, based on performing either planar or non-planar solver according to the scene structure or performing both solvers simultaneously and selecting the better result. Such joined solvers give comparable or even better results than the existing general solvers for planar as well as non-planar scenes.

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© 2012 by the Information Processing Society of Japan
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