The Absolute Line Quadric and Camera Autocalibration

Authors:
Antonio Valdés;José Ignacio Ronda;Guillermo Gallego
Affiliations:
Departamento de Geometría y Topología, Universidad Complutense de Madrid, Madrid, Spain E-28040;Grupo de Tratamiento de Imágenes, Universidad Politécnica de Madrid, Madrid, Spain E-28040;Grupo de Tratamiento de Imágenes, Universidad Politécnica de Madrid, Madrid, Spain E-28040
Venue:
International Journal of Computer Vision
Year:
2006

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Abstract

We introduce a geometrical object providing the same information as the absolute conic: the absolute line quadric (ALQ). After the introduction of the necessary exterior algebra and Grassmannian geometry tools, we analyze the Grassmannian of lines of P from both the projective and Euclidean points of view. The exterior algebra setting allows then to introduce the ALQ as a quadric arising very naturally from the dual absolute quadric. We fully characterize the ALQ and provide clean relationships to solve the inverse problem, i.e., recovering the Euclidean structure of space from the ALQ. Finally we show how the ALQ turns out to be particularly suitable to address the Euclidean autocalibration of a set of cameras with square pixels and otherwise varying intrinsic parameters, providing new linear and non-linear algorithms for this problem. We also provide experimental results showing the good performance of the techniques.