One-sided Radial-Fundamental Matrix Estimation

Abstract

For modern consumer cameras often approximate calibration data is available, mak-ing applications such as 3D reconstruction or photo registration easier as compared to the pure uncalibrated setting. In this paper we address the setting with calibrated-uncalibrated image pairs: for one image intrinsic parameters are assumed to be known, whereas the second view has unknown distortion and calibration parameters. This sit-uation arises e.g. when one would like to register archive imagery to recently taken photos. A commonly adopted strategy for determining epipolar geometry is based on feature matching and minimal solvers inside a RANSAC framework. However, only very few existing solutions apply to the calibrated-uncalibrated setting. We propose a simple and numerically stable two-step scheme to first estimate radial distortion parameters and subsequently the focal length using novel solvers. We demonstrate the performance on synthetic and real datasets. 1