Polynomial methods for SfM assuming central projection
Sahar Mohamed Ghanem, Mohammed A. Ismail, Soheir A. Bassiony · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1998
We are concerned with determining three-dimensional structure and motion of objects in space from images known as structure from motion (SfM) problem. We focus on a two-frame feature- based SfM problem. The reformulation of the problem using central projection as the projection model is demonstrated. A new capability of estimating focal length is introduced in addition to structure and motion parameters, which allows for processing uncalibrated camera. The use of polynomial systems of equations to formulate the problem is explained. The formulation of polynomial systems using the central projection model added a restriction that the depth of at least one of the feature points must be known. Thus it is assured that we solve for the true structure and translation (not to a scale factor).