Efficient Radial Distortion Correction for Planar Motion

Örnhag, Marcus ValtonenLund University,Lunds universitet,Matematik LTH,Matematikcentrum,Institutioner vid LTH,Lunds Tekniska Högskola,Mathematics (Faculty of Engineering),Centre for Mathematical Sciences,Departments at LTH,Faculty of Engineering, LTH (författare)

In this paper we investigate simultaneous radial distortion calibration and motion estimation for vehicles travelling parallel to planar surfaces. This is done by estimating the inter-image homography between two poses, as well as the distortion parameter. Radial distortion correction is often performed as a pre-calibration step; however, accurately estimating the distortion profile without special scene requirements may make such procedures obsolete. As many modern day consumer cameras are affected by radial distortion to some degree, there is a great potential to reduce production time, if properly implemented. We devise two polynomial solvers, for radially distorted homographies compatible with different models of planar motion. We show that the algorithms are numerically stable, and sufficiently fast to be incorporated in a real-time frameworks. Furthermore, we show on both synthetic and real data, that the proposed solvers perform well compared to competing methods.

Ingår i:Pattern Recognition Applications and Methods - 9th International Conference, ICPRAM 2020, Revised Selected PapersCham : Springer International Publishing12594 LNCS, s. 46-631611-33490302-97439783030661243

Av författaren/redakt...: Örnhag, Marcus V ...; De Marsico, Mari ...; di Baja, Gabriel ...; Fred, Ana

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