Richard I. Hartley

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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;(More)
The fundamental matrix is a basic tool in the analysis of scenes taken with two uncalibrated cameras, and the eight-point algorithm is a frequently cited method for computing the fundamental matrix from a set of eight or more point matches. It has the advantage of simplicity of implementation. The prevailing view is, however, that it is extremely(More)
The possibility of calibrating a camera based on the identification of matching points in several views of a scene taken by the same camera has been shown by Maybank and Faugeras ([13, 4]). Using techniques of Projective Geometry they showed that each pair of views of the scene can be used to provide two quadratic equations in the five unknown parameters of(More)
point of the common perpendicular to the two rays (the midpoint method). Perhaps a better choice would be to In this paper, we consider the problem of finding the position of a point in space given its position in two images taken with divide the common perpendicular in proportion to the cameras with known calibration and pose. This process requires(More)
In this paper, we look at improving the KD-tree for a specific usage: indexing a large number of SIFT and other types of image descriptors. We have extended priority search, to priority search among multiple trees. By creating multiple KD-trees from the same data set and simultaneously searching among these trees, we have improved the KD-treepsilas search(More)
This paper gives a new method for image rectification, the process of resampling pairs of stereo images taken from widely differing viewpoints in order to produce a pair of “matched epipolar projections”. These are projections in which the epipolar lines run parallel with the x-axis and consequently, disparities between the images are in the x-direction(More)
A new practical method is given for the self-calibration of a camera. In this method, at least three images are taken from the same point in space with different orientations of the camera and calibration is computed from an analysis of point matches between the images. The method requires no knowledge of the orientations of the camera. Calibration is based(More)
The fundamental matrix is a basic tool in the analysis of scenes taken with two uncalibrated cameras, and the 8-point algorithm is a frequently cited method for computing the fundamental matrix from a set of 8 or more point matches. It has the advantage of simplicity of implementation. The prevailing view is, however, that it is extremely susceptible to(More)
This paper discusses the basic role of the trifocal tensor in scene reconstruction from three views. This 3× 3× 3 tensor plays a role in the analysis of scenes from three views analogous to the role played by the fundamental matrix in the two-view case. In particular, the trifocal tensor may be computed by a linear algorithm from a set of 13 line(More)