Radially distorted planar motion compatible homographies

• Fast and accurate homography estimation is essential to many computer vision applications, including scene degenerate cases and planarity detection. Such cases arise naturally in man-made environments, and failure to handle them will result in poor positioning estimates. Most modern day consumer cameras are affected by some level of radial distortion, which must be compensated for in order to get accurate estimates. This often demands calibration procedures, with specific scene requirements, and off-line processing. In this paper a novel polynomial solver for radially distorted planar motion compatible homographies is presented. The proposed algorithm is fast and numerically stable, and is proven on both synthetic and real data to work well inside a RANSAC loop.

Subject headings

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)

Keyword

Homography

Planar Motion

Polynomial Solver

Radial Distortion

Trajectory Recovery

Visual Odometry

Publication and Content Type

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