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Author: Levente Hajder

Affiliation: MTA SZTAKI, Hungary

Keyword(s): Weak-perspective Projection, Calibration, PnP, Structure from Motion.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Device Calibration, Characterization and Modeling ; Image Formation and Preprocessing ; Motion, Tracking and Stereo Vision ; Stereo Vision and Structure from Motion

Abstract: Camera calibration is a key problem in 3D computer vision since the late 80's. Most of the calibration methods deal with the (perspective) pinhole camera model. This is not a simple goal: the problem is nonlinear due to the perspectivity. The strategy of these methods is to estimate the intrinsic camera parameters first; then the extrinsic ones are computed by the so-called PnP method. Finally, the accurate camera parameters are obtained by slow numerical optimization. In this paper, we show that the weak-perspective camera model can be optimally calibrated without numerical optimization if the $L_2$ norm is used. The solution is given by a closed-form formula, thus the estimation is very fast. We call this method as the Weak-Perspective n-Point (W-PnP) algorithm. Its advantage is that it simultaneously estimates the two intrinsic weak-perspective camera parameters and the extrinsic ones. We show that the proposed calibration method can be utilized as the solution for a subproblem of 3D reconstruction with missing data. An alternating least squares method is also defined that optimizes the camera motion using the proposed optimal calibration method. (More)

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Paper citation in several formats:
Hajder, L. (2017). W-PnP Method: Optimal Solution for the Weak-Perspective n-Point Problem and Its Application to Structure from Motion. In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2017) - Volume 6: VISAPP; ISBN 978-989-758-227-1; ISSN 2184-4321, SciTePress, pages 265-276. DOI: 10.5220/0006158902650276

@conference{visapp17,
author={Levente Hajder.},
title={W-PnP Method: Optimal Solution for the Weak-Perspective n-Point Problem and Its Application to Structure from Motion},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2017) - Volume 6: VISAPP},
year={2017},
pages={265-276},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006158902650276},
isbn={978-989-758-227-1},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2017) - Volume 6: VISAPP
TI - W-PnP Method: Optimal Solution for the Weak-Perspective n-Point Problem and Its Application to Structure from Motion
SN - 978-989-758-227-1
IS - 2184-4321
AU - Hajder, L.
PY - 2017
SP - 265
EP - 276
DO - 10.5220/0006158902650276
PB - SciTePress

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