Statistical Analysis of Inherent Ambiguities in Recovering 3-D Motion from a Noisy Flow Field
IEEE Transactions on Pattern Analysis and Machine Intelligence
A theory of self-calibration of a moving camera
International Journal of Computer Vision
Models of statistical visual motion estimation
CVGIP: Image Understanding
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
Self-Calibration of Stationary Cameras
International Journal of Computer Vision
Self-Calibration of a Moving Camera from PointCorrespondences and Fundamental Matrices
International Journal of Computer Vision
Affine Structure from Line Correspondences With Uncalibrated Affine Cameras
IEEE Transactions on Pattern Analysis and Machine Intelligence
Effects of errors in the viewing geometry on shape estimation
Computer Vision and Image Understanding
Geometry of Distorted Visual Space and Cremona Transformation
International Journal of Computer Vision
Critical Motions for Auto-Calibration When Some Intrinsic Parameters Can Vary
Journal of Mathematical Imaging and Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Characterizing Depth Distortion under Different Generic Motions
International Journal of Computer Vision
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
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Critical Motion Sequences for Monocular Self-Calibration and Uncalibrated Euclidean Reconstruction
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Factorization Methods for Projective Structure and Motion
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
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
Recursive Shape and Pose Determination Using Deformable Model
CIARP '08 Proceedings of the 13th Iberoamerican congress on Pattern Recognition: Progress in Pattern Recognition, Image Analysis and Applications
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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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 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 3D motion with freely varying focal length. This characterization allows us: (1) to investigate the effectiveness of the visibility constraint in disambiguating errors in calibration parameters 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 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 change in focal length is not well estimated, 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.