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1998

Towards robust metric reconstruction via a dynamic uncalibrated stereo head

8 years 9 months ago
Towards robust metric reconstruction via a dynamic uncalibrated stereo head
We consider the problem of metrically reconstructing a scene viewed by a moving stereo head. The head comprises two cameras with coplanar optical axes arranged on a lateral rig, each camera being free to vary its angle of vergence. Under various constraints, we derive novel explicit forms for the epipolar equation, and show that a static stereo head constitutes a degenerate camera con guration for carrying out self-calibration. The situation is retrieved by consideration of a stereo head undergoing ground plane motion, and new closed-form solutions for self-calibration are derived. An error analysis reveals that reconstruction is adversely a ected by inward-facing camera vergence angles that are similar in value, and by a principal point location whose horizontal component is in error. It is also shown that the adoption of domain-speci c robust techniques for computation of the fundamental matrix can signi cantlyimprove the qualityof scene reconstruction. Experimentsconducted with dyn...
Michael J. Brooks, Lourdes de Agapito, D. Q. Huynh
Added 22 Dec 2010
Updated 22 Dec 2010
Type Journal
Year 1998
Where IVC
Authors Michael J. Brooks, Lourdes de Agapito, D. Q. Huynh, Luis Baumela
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