Lens Distortion Calibration Using Point Correspondences

This paper describes a new method for lens distortion calibration using only point correspondences in multiple views, without the need to know either the 3D location of the points or the camera locations. The standard lens distortion model is a model of the deviations of a real camera from the ideal pinhole or projective camera model.Given multiple views of a set of corresponding points taken by ideal pinhole cameras there exist epipolar and trilinear constraints among pairs and triplets of these views. In practice, due to noise in the feature detection and due to lens distortion these constraints do not hold exactly and we get some error. The calibration is a search for the lens distortion parameters that minimize this error. Using simulation and experimental results with real images we explore the properties of this method. We describe the use of this method with the standard lens distortion model, radial and decentering, but it could also be used with any other parametric distortion models. Finally we demonstrate that lens distortion calibration improves the accuracy of 3D reconstruction

Direct Estimation of Motion and Extended Scene Structure from a Moving Stereo Rig

We describe a new method for motion estimation and 3D reconstruction from stereo image sequences obtained by a stereo rig moving through a rigid world. We show that given two stereo pairs one can compute the motion of the stereo rig directly from the image derivatives (spatial and temporal). Correspondences are not required. One can then use the images from both pairs combined to compute a dense depth map. The motion estimates between stereo pairs enable us to combine depth maps from all the pairs in the sequence to form an extended scene reconstruction and we show results from a real image sequence. The motion computation is a linear least squares computation using all the pixels in the image. Areas with little or no contrast are implicitly weighted less so one does not have to explicitly apply a confidence measure

On Degeneracy of Linear Reconstruction from Three Views: Linear Line Complex and Applications

This paper investigates the linear degeneracies of projective structure estimation from point and line features across three views. We show that the rank of the linear system of equations for recovering the trilinear tensor of three views reduces to 23 (instead of 26) in the case when the scene is a Linear Line Complex (set of lines in space intersecting at a common line) and is 21 when the scene is planar. The LLC situation is only linearly degenerate, and we show that one can obtain a unique solution when the admissibility constraints of the tensor are accounted for. The line configuration described by an LLC, rather than being some obscure case, is in fact quite typical. It includes, as a particular example, the case of a camera moving down a hallway in an office environment or down an urban street. Furthermore, an LLC situation may occur as an artifact such as in direct estimation from spatio-temporal derivatives of image brightness. Therefore, an investigation into degeneracies and their remedy is important also in practice

Direct Methods for Estimation of Structure and Motion from Three Views

We describe a new direct method for estimating structure and motion from image intensities of multiple views. We extend the direct methods of Horn- and-Weldon to three views. Adding the third view enables us to solve for motion, and compute a dense depth map of the scene, directly from image spatio -temporal derivatives in a linear manner without first having to find point correspondences or compute optical flow. We describe the advantages and limitations of this method which are then verified through simulation and experiments with real images

Monitoring Activities from Multiple Video Streams: Establishing a Common Coordinate Frame

Passive monitoring of large sites typically requires coordination between multiple cameras, which in turn requires methods for automatically relating events between distributed cameras. This paper tackles the problem of self-calibration of multiple cameras which are very far apart, using feature correspondences to determine the camera geometry. The key problem is finding such correspondences. Since the camera geometry and photometric characteristics vary considerably between images, one cannot use brightness and/or proximity constraints. Instead we apply planar geometric constraints to moving objects in the scene in order to align the scene"s ground plane across multiple views. We do not assume synchronized cameras, and we show that enforcing geometric constraints enables us to align the tracking data in time. Once we have recovered the homography which aligns the planar structure in the scene, we can compute from the homography matrix the 3D position of the plane and the relative camera positions. This in turn enables us to recover a homography matrix which maps the images to an overhead view. We demonstrate this technique in two settings: a controlled lab setting where we test the effects of errors in internal camera calibration, and an uncontrolled, outdoor setting in which the full procedure is applied to external camera calibration and ground plane recovery. In spite of noise in the internal camera parameters and image data, the system successfully recovers both planar structure and relative camera positions in both settings

Internal Camera Calibration Using Rotation and Geometric Shapes

This paper describes a simple method for internal camera calibration for computer vision. This method is based on tracking image features through a sequence of images while the camera undergoes pure rotation. The location of the features relative to the camera or to each other need not be known and therefore this method can be used both for laboratory calibration and for self calibration in autonomous robots working in unstructured environments. A second method of calibration is also presented. This method uses simple geometric objects such as spheres and straight lines to The camera parameters. Calibration is performed using both methods and the results compared

PREDICT: a method for inferring novel drug indications with application to personalized medicine

The authors present a new method, PREDICT, for the large-scale prediction of drug indications, and demonstrate its use on both approved drugs and novel molecules. They also provide a proof-of-concept for its potential utility in predicting patient-specific medications

Spectral Analysis for Matrix Hamiltonian Operators

In this work, we study the spectral properties of matrix Hamiltonians generated by linearizing the nonlinear Schr\"odinger equation about soliton solutions. By a numerically assisted proof, we show that there are no embedded eigenvalues for the three dimensional cubic equation. Though we focus on a proof of the 3d cubic problem, this work presents a new algorithm for verifying certain spectral properties needed to study soliton stability. Source code for verification of our comptuations, and for further experimentation, are available at http://www.math.toronto.edu/simpson/files/spec_prop_code.tgz.Comment: 57 pages, 22 figures, typos fixe

Many Labs 5:Testing pre-data collection peer review as an intervention to increase replicability

Replication studies in psychological science sometimes fail to reproduce prior findings. If these studies use methods that are unfaithful to the original study or ineffective in eliciting the phenomenon of interest, then a failure to replicate may be a failure of the protocol rather than a challenge to the original finding. Formal pre-data-collection peer review by experts may address shortcomings and increase replicability rates. We selected 10 replication studies from the Reproducibility Project: Psychology (RP:P; Open Science Collaboration, 2015) for which the original authors had expressed concerns about the replication designs before data collection; only one of these studies had yielded a statistically significant effect (p < .05). Commenters suggested that lack of adherence to expert review and low-powered tests were the reasons that most of these RP:P studies failed to replicate the original effects. We revised the replication protocols and received formal peer review prior to conducting new replication studies. We administered the RP:P and revised protocols in multiple laboratories (median number of laboratories per original study = 6.5, range = 3?9; median total sample = 1,279.5, range = 276?3,512) for high-powered tests of each original finding with both protocols. Overall, following the preregistered analysis plan, we found that the revised protocols produced effect sizes similar to those of the RP:P protocols (?r = .002 or .014, depending on analytic approach). The median effect size for the revised protocols (r = .05) was similar to that of the RP:P protocols (r = .04) and the original RP:P replications (r = .11), and smaller than that of the original studies (r = .37). Analysis of the cumulative evidence across the original studies and the corresponding three replication attempts provided very precise estimates of the 10 tested effects and indicated that their effect sizes (median r = .07, range = .00?.15) were 78% smaller, on average, than the original effect sizes (median r = .37, range = .19?.50)

Geometric and photometric constraints : motion and structure from three views

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.Includes bibliographical references (p. 165-171).by Gideon P. Stein.Ph.D