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Error analysis of pure rotation-based self-calibration

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4 Author(s)
Lei Wang ; Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China ; Sing Bing Kang ; Heung-Yeung Shum ; Guangyou Xu

Self-calibration using pure rotation is a well-known technique and has been shown to be a reliable means for recovering intrinsic camera parameters. However, in practice, it is virtually impossible to ensure that the camera motion for this type of self-calibration is a pure rotation. In this paper, we present an error analysis of recovered intrinsic camera parameters due to the presence of translation. We derived closed-form error expressions for a single pair of images with nondegenerate motion; for multiple rotations for which there are no closed-form solutions, analysis was done through repeated experiments. Among others, we show that translation-independent solutions do exist under certain practical conditions. Our analysis can be used to help choose the least error-prone approach (if multiple approaches exist) for a given set of conditions.

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:26 ,  Issue: 2 )