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Towards robust metric reconstruction via a dynamic uncalibrated stereo head

Brooks, MJ; De Agapito, L; Huynh, DQ; Baumela, L; (1998) Towards robust metric reconstruction via a dynamic uncalibrated stereo head. Image and Vision Computing , 16 (14) pp. 989-1002.

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Abstract

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 configuration 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 affected 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-specific robust techniques for computation of the fundamental matrix can significantly improve the quality of scene reconstruction. Experiments conducted with dynamic stereo head images confirm that avoidance of near-degenerate configurations and use of robustness techniques are essential if reliable reconstructions are to be attained. © 1998 Elsevier Science B.V. All rights reserved.

Type: Article
Title: Towards robust metric reconstruction via a dynamic uncalibrated stereo head
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/1406026
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