title: Error analysis of pure rotation-based self-calibration.
abstract: Self-calibration using pure rotation is a well-known technique and has been shown to be a reliable means for recovering intrinsic camera parameters. However, in practice, it is virtually impossible to ensure that the camera motion for this type of self-calibration is a pure rotation. In this paper, we present an error analysis of recovered intrinsic camera parameters due to the presence of translation. We derived closed-form error expressions for a single pair of images with nondegenerate motion; for multiple rotations for which there are no closed-form solutions, analysis was done through repeated experiments. Among others, we show that translation-independent solutions do exist under certain practical conditions. Our analysis can be used to help choose the least error-prone approach (if multiple approaches exist) for a given set of conditions.
authors.affiliation: Department of Computer Science and Technology, Tsinghua University, Beijing 100084, PR China. wanglei99@mails.tsinghua.edu.cn
authors.forename: Lei
authors.initials: L
authors.lastname: Wang
authors.forename: Sing Bing
authors.initials: SB
authors.lastname: Kang
authors.forename: Heung-Yeung
authors.initials: HY
authors.lastname: Shum
authors.forename: Guangyou
authors.initials: G
authors.lastname: Xu
mesh_terms: D000465:Algorithms; D002138:Calibration / Q000592:standards; D003627:Data Interpretation, Statistical; D007089:Image Enhancement / Q000295:instrumentation / Q000379:methods* / Q000592:standards; D007090:Image Interpretation, Computer-Assisted / Q000379:methods* / Q000592:standards; D021621:Imaging, Three-Dimensional / Q000295:instrumentation / Q000379:methods* / Q000592:standards; D016247:Information Storage and Retrieval / Q000379:methods / Q000592:standards; D010363:Pattern Recognition, Automated; D010781:Photography / Q000379:methods* / Q000592:standards; D015203:Reproducibility of Results; D012399:Rotation; D012680:Sensitivity and Specificity; D012815:Signal Processing, Computer-Assisted; D013382:Subtraction Technique