Interpretation of visual motion: a computational study
Interpretation of visual motion: a computational study
Obstacle Avoidance Using Flow Field Divergence
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Multi-Frame Structure-from-Motion Algorithm under Perspective Projection
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
A critique of structure-from-motion algorithms
Computer Vision and Image Understanding
Optimal Structure from Motion: Local Ambiguities and Global Estimates
International Journal of Computer Vision
Characterizing Depth Distortion under Different Generic Motions
International Journal of Computer Vision
Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation
International Journal of Computer Vision
Understanding the Behavior of SFM Algorithms: A Geometric Approach
International Journal of Computer Vision
A Badly Calibrated Camera in Ego-Motion Estimation Propagation of Uncertainty
CAIP '97 Proceedings of the 7th International Conference on Computer Analysis of Images and Patterns
Generalized image matching by the method of differences
Generalized image matching by the method of differences
From Projective to Euclidean Space Under any Practical Situation, a Criticism of Self-Calibration
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Stabilizing the Focal Length Computation for 3-D Reconstruction from Two Uncalibrated Views
International Journal of Computer Vision
Motion bias and structure distortion induced by intrinsic calibration errors
Image and Vision Computing
Focal length calibration from two views: method and analysis of singular cases
Computer Vision and Image Understanding
Error characteristics of SFM with erroneous focal length
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
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This paper presents an algorithm-independent geometrical analysis of the behavior of differential Structure from Motion (SFM) algorithms when there are errors in intrinsic parameters of the camera. We demonstrate both analytically and in simulation how uncertainty in the calibration parameters gets propagated to motion estimates in a differential setting. In particular, we studied how erroneous focal length and principal point estimates affect the behavior of the bas-relief ambiguity and introduce additional biasing to the translation estimate in a non-simple manner not revealed by previous analyses. Our formulation allows us to characterize the influence of various factors such as different scene-motion configurations and field of views in an analytically tractable manner. Guidelines are given as to whether one should err on the low or the high side in the estimation of the focal length depending on various operating conditions such as the feature density and the noise level. Simulations with synthetic data and real images were conducted to support our findings.