Zuzana Kúkelová presents Rectification from Radially-Distorted Scales

On 2019-02-25 14:30:00 at G205, Karlovo náměstí 13, Praha 2
This work introduces the first minimal solvers that jointly estimate lens
distortion and affine rectification from repetitions of rigidly-transformed
coplanar local features. The proposed solvers incorporate lens distortion into
the camera model and extend accurate rectification to wide-angle images that
contain nearly any type of coplanar repeated content. We demonstrate a
principled approach to generating stable minimal solvers by the Gröbner basis
method, which is accomplished by sampling feasible monomial bases to maximize
numerical stability. Synthetic and real-image experiments confirm that the
solvers give accurate rectifications from noisy measurements if used in a
RANSAC-based estimator. The proposed solvers demonstrate superior robustness to
noise compared to the state of the art. The solvers work on scenes without
straight lines and, in general, relax strong assumptions about scene content
made by the state of the art. Accurate rectifications on imagery taken with
narrow focal length to fisheye lenses demonstrate the wide applicability of the
proposed method.
Responsible person: Petr Pošík