A practical iterative two-view metric reconstruction with uncalibrated cameras

作     者：ZHOU Yong-jun KOU Xin-jian 

作者机构：School of Naval Architecture. Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai 200240 China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2007年第8卷第10期

页      面：1614-1623页

核心收录：

学科分类：083002[工学-环境工程] 0830[工学-环境科学与工程（可授工学、理学、农学学位）] 081802[工学-地球探测与信息技术] 08[工学] 0818[工学-地质资源与地质工程] 081602[工学-摄影测量与遥感] 0816[工学-测绘科学与技术] 

主　　题：Close-range photogrammetry Computer vision General relative orientation Unit quaternion Metric reconstruction 

摘      要：This paper presents a practical iterative algorithm for two-view metric reconstruction without any prior knowledge about the scene and motion in a nonsingular geometry configuration. The principal point is assumed to locate at the image center with zero skew and the same aspect ratio, and the interior parameters are fixed, so the self-calibration becomes focal-length cali- bration. Existing focal length calibration methods are direct solutions of a quadric composed of fundamental matrix, which are sensitive to noise. A quaternion-based linear iterative Least-Square Method is proposed in this paper, and one-dimensional searching for optimal focal length in a constrained region instead of solving optimization problems with inequality constraints is applied to simplify the computation complexity, then unique rotational matrix and translate vector are recovered. Experiments with simulation data and real images are given to verify the algorithm.