Minimal Solvers for Relative Pose with a Single Unknown Radial Distortion

@article{Kuang2014MinimalSF,
  title={Minimal Solvers for Relative Pose with a Single Unknown Radial Distortion},
  author={Yubin Kuang and Jan Erik Solem and Fredrik Kahl and Kalle {\AA}str{\"o}m},
  journal={2014 IEEE Conference on Computer Vision and Pattern Recognition},
  year={2014},
  pages={33-40}
}
In this paper, we study the problems of estimating relative pose between two cameras in the presence of radial distortion. Specifically, we consider minimal problems where one of the cameras has no or known radial distortion. There are three useful cases for this setup with a single unknown distortion: (i) fundamental matrix estimation where the two cameras are uncalibrated, (ii) essential matrix estimation for a partially calibrated camera pair, (iii) essential matrix estimation for one… CONTINUE READING

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