A minimal solution for relative pose with unknown focal length

Authors:
Henrik Stewénius;David Nistér;Fredrik Kahl;Frederik Schaffalitzky
Affiliations:
Center for Visualization and Virtual Environments University of Kentucky, USA;Microsoft Live Labs, Microsoft Research, Redmond, USA;Centre for Mathematical Sciences Lund University, Sweden;Department of Engineering Science, University of Oxford, UK
Venue:
Image and Vision Computing
Year:
2008

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Abstract

Assume that we have two perspective images with known intrinsic parameters except for an unknown common focal length. It is a minimally constrained problem to find the relative orientation between the two images given six corresponding points. To this problem which to the best of our knowledge was unsolved we present an efficient solver. Through numerical experiments we demonstrate that the algorithm is correct, numerically stable and useful. The solutions are found through eigen-decomposition of a 15x15 matrix. The matrix itself is generated in closed form.