Effective and Generic Structure from Motion using Angular Error

Authors:
Maxime Lhuillier
Affiliations:
LASMEA, UMR CNRS 6602, Université Blaise Pascal, 63177 Aubiere, France
Venue:
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 01
Year:
2006

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Cited 5

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Abstract

Generic camera modeling using raxels and associated methods was recently introduced in Computer Vision. The main advantage is the applicability for any camera model, which contrasts to the many specific methods designed for a single camera model. This paper introduces a bundle adjustment based on angular error for the generic structure from motion problem. Experiments include automatic, robust and optimal estimation of scene structure and camera motion from a long image sequence acquired by a handheld non-central (calibrated) catadioptric camera.