Author:
Marcus Valtonen Örnhag
Affiliation:
Centre for Mathematical Sciences, Lund University, Lund, Sweden
Keyword(s):
Planar Motion, Homography, Radial Distortion, Polynomial Solver, Trajectory Recovery, Visual Odometry.
Abstract:
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.