| | This Article | |
| |
| |
| | Share | |
| |
| |
| | Bibliographic References | |
| |
| |
| | Add to: | |
| |
 Digg
 Furl
 Spurl
 Blink
 Simpy
 Google
 Del.icio.us
 Y!MyWeb
| |
| | Search | |
| |
| |
| | |
Error Analysis of Pure Rotation-Based Self-Calibration
February 2004 (vol. 26 no. 2)
pp. 275-280
Abstract—Self-calibration using pure rotation is a well-known technique and has been shown to be a reliable means for recovering intrinsic camera parameters. However, in practice, it is virtually impossible to ensure that the camera motion for this type of self-calibration is a pure rotation. In this paper, we present an error analysis of recovered intrinsic camera parameters due to the presence of translation. We derived closed-form error expressions for a single pair of images with nondegenerate motion; for multiple rotations for which there are no closed-form solutions, analysis was done through repeated experiments. Among others, we show that translation-independent solutions do exist under certain practical conditions. Our analysis can be used to help choose the least error-prone approach (if multiple approaches exist) for a given set of conditions.
[1] A. Basu, Active Calibration: Alternative Strategy and Analysis Proc. Conf. Computer Vision and Pattern Recognition, pp. 495-500, June 1993.
[2] L. de Agapito, E. Hayman, and I.D. Reid, Self-Calibration of Rotating and Zooming Cameras Int'l J. Computer Vision, vol. 45, no. 2, pp. 107-127, 2001.
[3] F. Du and M. Brady, Self-Calibration of the Intrinsic Parameters of Cameras for Active Vision Systems Proc. Conf. Computer Vision and Pattern Recognition, pp. 477-482, June 1993.
[4] G. Golub and L.C. Van, Matrix Computations, third ed. Baltimore: John Hopkins Univ. Press, 1996.
[5] R.I. Hartley, Self-Calibration from Multiple Views of a Rotating Camera Proc. European Conf. Computer Vision, vol. 1, pp. 471-478, May 1994.
[6] R.I. Hartley, Self-Calibration of Stationary Cameras Int'l J. Computer Vision, vol. 22, no. 1, pp. 5-23, Feb. 1997.
[7] E. Hayman and D.W. Murray, The Effect of Translational Misalignment in the Self-Calibration of Rotating and Zooming Cameras Technical Report OUEL 2250/02, Oxford Univ. Eng. Library, Sept. 2002.
[8] N.J. Higham, A Survey of Componentwise Perturbation Theory in Numerical Linear Algebra Math. of Computation 1943-1993: A Half Century of Computational Mathematics, Proc. Symp. Applied Math., W. Gautschi, ed., vol. 48, pp. 49-77, 1994.
[9] Y. Ma, S. Soatto, J. Kosecka, and S. Sastry, Euclidean Reconstruction and Reprojection up to Subgroups Proc. Int'l Conf. Computer Vision, vol. 1, pp. 773-780, Sept. 1999.
[10] S. Maybank and O. Faugeras, A Theory of Self-Calibration of a Moving Camera Int'l J. Computer Vision, vol. 8, no. 2, pp. 123-151, 1992.
[11] Y. Seo and K.S. Hong, About the Self-Calibration of a Rotating and Zooming Camera: Theory and Practice Proc. Int'l Conf. Computer Vision, vol. 1, pp. 183-188, Sept. 1999.
[12] H.-Y. Shum and R. Szeliski, Systems and Experiment Paper: Construction of Panoramic Image Mosaics with Global and Local Alignment Int'l J. Computer Vision, vol. 36, no. 2, pp. 101-130, Feb. 2000.
[13] G. Stein, “Accurate Internal Camera Calibration Using Rotation, with Analysis of Sources of Error,” Proc. Fifth Int'l Conf. Computer Vision, pp. 230-236, June 1995.
[14] P. Sturm, Critical Motion Sequences for Monocular Self-Calibration and Uncalibrated Euclidean Reconstruction Proc. Conf. Computer Vision and Pattern Recognition, pp. 1100-1105, June 1997.
[15] P. Sturm and S. Maybank, “On Plane-Based Camera Calibration: A General Algorithm, Singularities, Applications,” Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 432-437, June 1999.
[16] B. Triggs, Autocalibration from Planar Scenes Proc. European Conf. Computer Vision, vol. 1, pp. 89-105, June 1998.
[17] L. Wang, S. B. Kang, H. -Y. Shum, and G. Xu, Error Analysis of Pure Rotation-Based Self-Calibration MSR technical report, Microsoft Corp., 2002.
[18] L. Wang, S. B. Kang, H.Y. Shum, and G.Y. Xu, Error Analysis of Pure Rotation-Based Self-Calibration Proc. Int'l Conf. Computer Vision, vol. 1, pp. 464-471, July 2001.
[19] Z.Y. Zhang, A Flexible New Technique for Camera Calibration Proc. Int'l Conf. Computer Vision, vol. 1, pp. 666-673, Sept. 1999.
Index Terms:
Self-calibration, rotating cameras, error analysis.
Citation:
Lei Wang, Sing Bing Kang, Heung-Yeung Shum, Guangyou Xu, "Error Analysis of Pure Rotation-Based Self-Calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 26, no. 2, pp. 275-280, Jan. 2004, doi:10.1109/TPAMI.2004.1262199
