Influence of the numerical conditioning to the accuracy of relative orientation (CROSBI ID 528988)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Šegvić, Siniša ; Schweighofer, gerald ; Pinz, Axel
engleski
Influence of the numerical conditioning to the accuracy of relative orientation
We study the influence of numerical conditioning to the accuracy of two closed-form solutions to the overconstrained relative orientation problem. We consider the well-known eight-point algorithm and the recent five-point algorithm, and evaluate changes in their performance due to Hartley's normalization and Muehlich's equilibration. The need for numerical conditioning is introduced by explaining the known occurence of the bias of the eight-point algorithm towards the forward motion. Then it is shown how conditioning can be used to improve the results of the recent five-point algorithm. This is not straightforward since the conditioning disturbs the calibration of the input data The conditioning therefore needs to be reverted before enforcing the internal cubic constraints of the essential matrix. The obtained improvements are less dramatic than in the case of the eight-point algorithm, for which we offer a plausible explanation. The theoretical claims are backed up with extensive experimentation on noisy artificial datasets under a variety of geometric and imaging parameters.
relative pose; performance evaluation
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Podaci o prilogu
1-8.
2007.
objavljeno
Podaci o matičnoj publikaciji
Computer Vision and Pattern Recognition, 2007. CVPR '07. IEEE Conference on. Workshop BenCOS.
Ilkka Niini, Camillo Ressl, Peter Sturm, Olaf Hellwich, Volker Rodehorst, Daniel Scharstein
Institute of Electrical and Electronics Engineers (IEEE)
1-4244-1180-7
Podaci o skupu
The second international ISPRS workshop Towards Benchmarking Automated Calibration, Orientation, and Surface Reconstruction from Images Held with IEEE CVPR 2007
predavanje
23.06.2007-23.06.2007
Minneapolis (MN), Sjedinjene Američke Države