TY - GEN
T1 - Factorization-based structure-and-motion computation for generalized camera model
AU - Dai, Yuchao
AU - He, Mingyi
AU - Li, Hongdong
AU - Hartley, Richard
PY - 2011
Y1 - 2011
N2 - Generalized camera model (GCM) has been introduced recently to unify the analysis and description of a variety of non-conventional camera designs (e.g. catadioptric and omnidirectional), as well as multi-camera systems. In this paper, we extend the well-known and powerful Tomasi-Kanade type factorization framework to generalized cameras. We first prove that even for such seemingly more complicated generalized cameras there is also a rank-4 constraint, similar to the case of using a single pinhole projective camera. This result is much simpler and more compact than a recent work suggesting a rank-13 tensor factorization. Secondly, we propose two GCM factorization algorithms to recover the structure and motion. We also provide theoretic convergence analysis for the algorithms. Experiments on synthetic data validate the theory and the proposed algorithms.
AB - Generalized camera model (GCM) has been introduced recently to unify the analysis and description of a variety of non-conventional camera designs (e.g. catadioptric and omnidirectional), as well as multi-camera systems. In this paper, we extend the well-known and powerful Tomasi-Kanade type factorization framework to generalized cameras. We first prove that even for such seemingly more complicated generalized cameras there is also a rank-4 constraint, similar to the case of using a single pinhole projective camera. This result is much simpler and more compact than a recent work suggesting a rank-13 tensor factorization. Secondly, we propose two GCM factorization algorithms to recover the structure and motion. We also provide theoretic convergence analysis for the algorithms. Experiments on synthetic data validate the theory and the proposed algorithms.
KW - factorization
KW - generalized camera model
KW - global convergent
KW - rotation averaging
UR - http://www.scopus.com/inward/record.url?scp=81055126865&partnerID=8YFLogxK
U2 - 10.1109/ICSPCC.2011.6061822
DO - 10.1109/ICSPCC.2011.6061822
M3 - Conference contribution
SN - 9781457708947
T3 - 2011 IEEE International Conference on Signal Processing, Communications and Computing, ICSPCC 2011
BT - 2011 IEEE International Conference on Signal Processing, Communications and Computing, ICSPCC 2011
T2 - 2011 IEEE International Conference on Signal Processing, Communications and Computing, ICSPCC 2011
Y2 - 14 September 2011 through 16 September 2011
ER -