Self-calibration from multiple views with a rotating camera
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Passive navigation as a pattern recognition problem
International Journal of Computer Vision - Special issue on qualitative vision
Euclidean structure from uncalibrated images
BMVC 94 Proceedings of the conference on British machine vision (vol. 2)
The first order expansion of motion equations in the uncalibrated case
Computer Vision and Image Understanding
Effects of errors in the viewing geometry on shape estimation
Computer Vision and Image Understanding
Euclidean 3D Reconstruction from Image Sequences with Variable Focal Lenghts
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
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
Autocalibration and the absolute quadric
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Accurate internal camera calibration using rotation, with analysis of sources of error
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
What Accuracy for 3D Measurements with Cameras?
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
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
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There have been relatively little works to shed light on the effects of errors in the intrinsic parameters on motion estimation and scene reconstruction. Given that the estimation of the extrinsic and intrinsic parameters from uncalibrated motion apts to be imprecise, it is important to study the resulting distortion on the recovered structure. By making use of the iso-distortion framework, we explicitly characterize the geometry of the distorted space recovered from 3-D motion with freely varying focal length. This characterization allows us: 1) to investigate the effectiveness of the visibility constraint in disambiguating uncalibrated motion by studying the negative distortion regions, and 2) to make explicit those ambiguous error situations under which the visibility constraint is not effective. An important finding is that under these ambiguous situations, the direction of heading can nevertheless be accurately recovered and the structure recovered experienced a well-behaved distortion. The distortion is given by a relief transformation which preserves ordinal depth relations. Thus in the case where the only unknown intrinsic parameter is the focal length, structure information in the form of depth relief can be obtained. Experiments were presented to support the use of the visibility constraint in obtaining such partial motion and structure solutions.