Estimating relative camera motion from the antipodal-epipolar constraint

Rotation Estimation: A Closed-Form Solution Using Spherical Moments

Photometric moments are global descriptors of an image that can be used to recover motion information. This paper uses spherical photometric moments for a closed form estimation of 3D rotations from images. Since the used descriptors are global and not of the geometrical kind, they allow to avoid image processing as features extraction, matching, and tracking. The proposed scheme based on spherical projection can be used for the different vision sensors obeying the central unified model: conventional, fisheye, and catadioptric. Experimental results using both synthetic data and real images in different scenarios are provided to show the efficiency of the proposed method.

Corrected calibration algorithm with a fixed constraint relationship and an error compensation technique for a binocular vision measurement system

This paper is concerned with the precise calibration algorithm and error compensation technique for a binocular vision measurement system. By invoking a fixed constraint relationship between the binocular cameras, these two cameras can be preferably bound together as one camera, which means that in each iteration only one camera needs external parameter tuning for optimized encapsulation, and the iteration time is reduced. The global optimal solutions are obtained by substituting the initial iterative solutions into the optimized iterative equations of the spatial points. The derived improved iterative algorithm obtains the camera parameters with high precision and performs better in noise resistance. Moreover, the error compensation matrix is constructed to correct the relative pose of binocular cameras, upon which solutions to the error compensation matrix are solved via the unit quaternion. Consequently, the relative pose matrix is revised, allowing for further improvement in the calibration performance. Finally, simulation and practical experiments are demonstrated. The relevant results confirm the precision and robustness of the proposed approach.