On Computing Metric Upgrades of Projective Reconstructions Under the Rectangular Pixel Assumption

  • Authors:

  • Jean Ponce

  • Affiliations:

  • -

  • Venue:
  • SMILE '00 Revised Papers from Second European Workshop on 3D Structure from Multiple Images of Large-Scale Environments
  • Year:
  • 2000

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Abstract

This paper shows how to upgrade the projective reconstruction of a scene to a metric one in the case where the only assumption made about the cameras observing that scene is that they have rectangular pixels (zero-skew cameras). The proposed approach is based on a simple characterization of zero-skew projection matrices in terms of line geometry, and it handles zero-skew cameras with arbitrary or known aspect ratios in a unified framework. The metric upgrade computation is decomposed into a sequence of linear operations, including linear least-squares parameter estimation and eigenvalue-based symmetric matrix factorization, followed by an optional non-linear least-squares refinement step. A few classes of critical motions for which a unique solution cannot be found are spelled out. A MATLAB implementation has been constructed and preliminary experiments with real data are presented.