Real-Time Solution to the Absolute Pose Problem with Unknown Radial Distortion and Focal Length

Zuzana Kukelova, Martin Bujnak, Tomas Pajdla; Proceedings of the IEEE International Conference on Computer Vision (ICCV), 2013, pp. 2816-2823

The problem of determining the absolute position and orientation of a camera from a set of 2D-to-3D point correspondences is one of the most important problems in computer vision with a broad range of applications. In this paper we present a new solution to the absolute pose problem for camera with unknown radial distortion and unknown focal length from five 2D-to-3D point correspondences. Our new solver is numerically more stable, more accurate, and significantly faster than the existing state-of-the-art minimal four point absolute pose solvers for this problem. Moreover, our solver results in less solutions and can handle larger radial distortions. The new solver is straightforward and uses only simple concepts from linear algebra. Therefore it is simpler than the state-of-the-art Gr??bner basis solvers. We compare our new solver with the existing state-of-theart solvers and show its usefulness on synthetic and real datasets. 1