In defence of the 8-point algorithm
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Two-View Geometry Estimation Unaffected by a Dominant Plane
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
A Minimal Solution for Relative Pose with Unknown Focal Length
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
Ideals, Varieties, and Algorithms: An Introduction to Computational Algebraic Geometry and Commutative Algebra, 3/e (Undergraduate Texts in Mathematics)
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Automatic Generator of Minimal Problem Solvers
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part III
Modeling and Recognition of Landmark Image Collections Using Iconic Scene Graphs
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
A simple solution to the six-point two-view focal-length problem
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Stable two view reconstruction using the six-point algorithm
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
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This paper presents an algorithm for estimating camera focal length from tentative matches in a pair of images, which works robustly in practical situations such as automatic computation of structure and camera motion from unknown photographs, e.g. from the web or from various instruments mounted on a vehicle. We extend the standard 6-pt algorithm based on the observations: (i) the quality of the estimation of this algorithm is strongly correlated with the ratio of the singular values of the essential matrix computed from inliers, which is calibrated by using the estimated focal length, returned by RANSAC and (ii) the reprojection error of the affine camera model, fit to the inliers, predicts the uncertainty in the estimated focal length. Furthermore, for scenes with dominant plane we propose a novel algorithm calculating relative orientation and unknown focal length given a plane homography and a single off the plane point correspondence. The performance of the proposed algorithm is demonstrated on a set of real images having different focal lengths.