Autocalibration with the Minimum Number of Cameras with Known Pixel Shape

In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the estimation of the camera parameters without using a calibration device, but by enforcing simple constraints on the camera parameters. In the absence of information about the internal camera parameters such as the focal length and the principal point, the knowledge of the camera pixel shape is usually the only available constraint. Given a projective reconstruction of a rigid scene, we address the problem of the autocalibration of a minimal set of cameras with known pixel shape and otherwise arbitrarily varying intrinsic and extrinsic parameters. We propose an algorithm that only requires 5 cameras (the theoretical minimum), thus halving the number of cameras required by previous algorithms based on the same constraint. To this purpose, we introduce as our basic geometric tool the six-line conic variety (SLCV), consisting in the set of planes intersecting six given lines of 3D space in points of a conic. We show that the set of solutions of the Euclidean upgrading problem for three cameras with known pixel shape can be parameterized in a computationally efficient way. This parameterization is then used to solve autocalibration from five or more cameras, reducing the three-dimensional search space to a two-dimensional one. We provide experiments with real images showing the good performance of the technique.Comment: 19 pages, 14 figures, 7 tables, J. Math. Imaging Vi

Constructing Intrinsic Delaunay Triangulations of Submanifolds

We describe an algorithm to construct an intrinsic Delaunay triangulation of a smooth closed submanifold of Euclidean space. Using results established in a companion paper on the stability of Delaunay triangulations on $\delta$-generic point sets, we establish sampling criteria which ensure that the intrinsic Delaunay complex coincides with the restricted Delaunay complex and also with the recently introduced tangential Delaunay complex. The algorithm generates a point set that meets the required criteria while the tangential complex is being constructed. In this way the computation of geodesic distances is avoided, the runtime is only linearly dependent on the ambient dimension, and the Delaunay complexes are guaranteed to be triangulations of the manifold

On the Reconstruction of Geodesic Subspaces of RN\mathbb{R}^N

We consider the topological and geometric reconstruction of a geodesic subspace of $\mathbb{R}^N$ both from the \v{C}ech and Vietoris-Rips filtrations on a finite, Hausdorff-close, Euclidean sample. Our reconstruction technique leverages the intrinsic length metric induced by the geodesics on the subspace. We consider the distortion and convexity radius as our sampling parameters for a successful reconstruction. For a geodesic subspace with finite distortion and positive convexity radius, we guarantee a correct computation of its homotopy and homology groups from the sample. For geodesic subspaces of $\mathbb{R}^2$, we also devise an algorithm to output a homotopy equivalent geometric complex that has a very small Hausdorff distance to the unknown shape of interest

Self-Calibration of Cameras with Euclidean Image Plane in Case of Two Views and Known Relative Rotation Angle

The internal calibration of a pinhole camera is given by five parameters that are combined into an upper-triangular $3\times 3$ calibration matrix. If the skew parameter is zero and the aspect ratio is equal to one, then the camera is said to have Euclidean image plane. In this paper, we propose a non-iterative self-calibration algorithm for a camera with Euclidean image plane in case the remaining three internal parameters --- the focal length and the principal point coordinates --- are fixed but unknown. The algorithm requires a set of $N \geq 7$ point correspondences in two views and also the measured relative rotation angle between the views. We show that the problem generically has six solutions (including complex ones). The algorithm has been implemented and tested both on synthetic data and on publicly available real dataset. The experiments demonstrate that the method is correct, numerically stable and robust.Comment: 13 pages, 7 eps-figure