# A NEW RELIABILITYMEASURE FOR ESSENTIAL MATRICES SUITABLE IN MULTIPLE VIEWCALIBRATION

### Jaume Vergés-Llahí, Daniel Moldovan, Toshikazu Wada

#### Abstract

This paper presents a new technique to recover structure and motion from a large number of images acquired by an intrinsically calibrated perspective camera. We describe a method for computing reliable camera motion parameters that combines a camera–dependency graph, which describes the set of camera locations and the feasibility of pairwise motion calculations, and an algorithm for computing the weights on the edges of this graph. A new criterion for evaluating the reliability of the essential matrices thus produced with respect to the epipolar constraint is here introduced. It is composed of two main elements, namely, the uncertainty of the renormalization process by which the essential matrix is derived and the error between the estimated matrix and its decomposition into the motion parameters of translation and rotation. Experimental results show that there exists a clear correlation between the proposed reliability measure and the error in the estimation of such motion parameters. The performance of the proposed method is demonstrated on a sequence of short base-line images where it is made clear that the strategy based on the shortest paths in terms of unreliability provides remarkably superior results to those obtained from the paths of consecutive camera locations.

#### References

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#### Paper Citation

#### in Harvard Style

Vergés-Llahí J., Moldovan D. and Wada T. (2008). **A NEW RELIABILITYMEASURE FOR ESSENTIAL MATRICES SUITABLE IN MULTIPLE VIEWCALIBRATION** . In *Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)* ISBN 978-989-8111-21-0, pages 114-121. DOI: 10.5220/0001078301140121

#### in Bibtex Style

@conference{visapp08,

author={Jaume Vergés-Llahí and Daniel Moldovan and Toshikazu Wada},

title={A NEW RELIABILITYMEASURE FOR ESSENTIAL MATRICES SUITABLE IN MULTIPLE VIEWCALIBRATION},

booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},

year={2008},

pages={114-121},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001078301140121},

isbn={978-989-8111-21-0},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)

TI - A NEW RELIABILITYMEASURE FOR ESSENTIAL MATRICES SUITABLE IN MULTIPLE VIEWCALIBRATION

SN - 978-989-8111-21-0

AU - Vergés-Llahí J.

AU - Moldovan D.

AU - Wada T.

PY - 2008

SP - 114

EP - 121

DO - 10.5220/0001078301140121