Revisiting Radial Distortion Absolute Pose
Paper in proceedings, 2019

To model radial distortion there are two main approaches; either the image points are undistorted such that they correspond to pinhole projections, or the pinhole projections are distorted such that they align with the image measurements. Depending on the application, either of the two approaches can be more suitable. For example, distortion models are commonly used in Structure-from-Motion since they simplify measuring the reprojection error in images. Surprisingly, all previous minimal solvers for pose estimation with radial distortion use undistortion models. In this paper we aim to fill this gap in the literature by proposing the first minimal solvers which can jointly estimate distortion models together with camera pose. We present a general approach which can handle rational models of arbitrary degree for both distortion and undistortion.

Author

Viktor Larsson

Torsten Sattler

Chalmers, Electrical Engineering, Signalbehandling och medicinsk teknik, Imaging and Image Analysis

Zuzana Kukelova

Czech Technical University in Prague

Marc Pollefeys

2019 IEEE/CVF International Conference on Computer Vision (ICCV)

2380-7504 (ISSN)

2019 IEEE/CVF International Conference on Computer Vision (ICCV)
Seoul, South Korea,

Subject Categories

Other Medical Engineering

Probability Theory and Statistics

Computer Vision and Robotics (Autonomous Systems)

DOI

10.1109/ICCV.2019.00115

More information

Created

6/9/2020 1