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Self-calibrating a stereo head: An error analysis in the neighbourhood of degenerate configurations

de Agapito, L; Huynh, DQ; Brooks, MJ; (1998) Self-calibrating a stereo head: An error analysis in the neighbourhood of degenerate configurations. Proceedings of the IEEE International Conference on Computer Vision pp. 747-753.

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Abstract

We show that the self-calibration of a stereo head from corresponding points in an image pair is in certain circumstances prone to considerable error. A novel error analysis reveals that the automated determination of relative orientation and focal length is adversely affected when the cameras verge inwards a similar amount, and when the principal point locations have a horizontal error. This analysis is facilitated by the adoption of closed-form solutions for self-calibration from previous work of the authors. It is also show that estimation of the fundamental matrix associated with a stereo head image pair is improved when a domain-specific parameterization and associated computational techniques are adopted. Experiments conducted with such image pairs suggest that, given cognisance of sensitive configurations and adoption of the revised method of fundamental matrix estimation, robust reconstructions are attainable. This is demonstrated on the problem of metrically reconstructing a scene front two pairs of images obtained by an uncalibrated stereo head undergoing unknown ground-plane motion.

Type: Article
Title: Self-calibrating a stereo head: An error analysis in the neighbourhood of degenerate configurations
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: http://discovery.ucl.ac.uk/id/eprint/1406025
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