A Scheme for Combining Auto-calibration and Scene Constraints
Du Q. Huynh, Anders Heyden, Said Baz Jahfar Khan · UWA Profiles and Research Repository (University of Western Australia) · 2002
A scheme for combining auto-calibration and scene con-straints in the “structure-from-motion ” problem is pro-posed. This scheme focuses on the recovery of the absolute quadric using auto-calibration while imposing orthogonal scene plane constraints. First, an initial estimate of the ab-solute quadric is obtained using a linear method. A non-linear constrained optimization step is then applied to re-fine this quadric and the camera intrinsic parameters to up-grade the estimated projective reconstruction to Euclidean. Finally, a bundle adjustment algorithm optimizes the Eu-clidean reconstruction to give a statistically optimal result. Constraints from orthogonal scene planes are applied to the initial estimation and refinement steps of the absolute quadric. The performance of the scheme is demonstrated on both simulated and real video data. 1.