Recently, self-calibration algorithms that use only the information in the image have been actively researched. But most algorithms require bundle adjustment in the projective reconstruction or in the nonlinear minimization. We propose a practical self-calibration algorithm that only requires a linear projective reconstruction. We overcome the sensitivity of the algorithm due to image noises by...

Multi-camera systems are more and more used in vision-based robotics. An accurate extrinsic calibration is usually required. In most of cases, this task is done by matching features through different views of the same scene. However, if the cameras fields of view do not overlap, such a matching procedure is not feasible anymore. This article deals with a simple and flexible extrinsic calibratio...

We describe the construction of accurate panoramic mosaics from multiple images taken with a rotating camera, or alternatively of a planar scene. The novelty of the approach lies in (i) the transfer of photogrammetric bundle adjustment techniques to mosaicing; (ii) a new representation of image line measurements enabling the use of lines in camera self-calibration, including computation of the ...

In a two-view setting, we are interested in finding the most likely camera poses T w 1 and T w 2 , both in the space SE(3) of 3D poses, and 3D points Pw j ∈R3, with j∈ 1..n, which we can do by minimizing the re-projection errors f (T w c ,P w; p) = ‖h(T w c ,Pw)− p‖Σ associated with each measurement p ∈ R2. Above, the measurement function h : SE(3)×R3→ R2 predicts the measurement p from the unk...

This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including spar...

A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective lowering the drift. But lidar SLAM, BA method is hardly because sparse feature points (e.g., edge plane) make exact point matching impossible. In this letter, we formulate as minimizing distance from its matched or plane. Unlike (and prior plane adjustment SLAM) wh...

This paper discusses the accuracies of two methods for automatic image orientation, 3D reconstruction, and extraction of textures of building facades from thermal IR image sequences. The first method uses the image sequence and camera calibration information only to reconstruct the scene in model coordinates and coregisters this model to a given 3D building model to derive optimized orientation...